+ python -m lidar_slam --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters Centerline goodness : 0.632402 Centerline is valid? [0, False] SLAMing on 0.03264 meters Centerline goodness : 0.560082 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999801e-01 6.30022300e-04 -1.50069721e-05 2.84016546e-03] [-6.30016919e-04 9.99999738e-01 3.55901640e-04 -1.29622589e-03] [ 1.52311941e-05 -3.55892115e-04 9.99999937e-01 -7.77958239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06264 meters Centerline goodness : 0.090020 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99997567e-01 2.09978537e-03 -6.75436748e-04 9.15559316e-03] [-2.09885427e-03 9.99996850e-01 1.37629485e-03 -3.62897524e-03] [ 6.78324544e-04 -1.37487386e-03 9.99998825e-01 -4.74275378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09264000000000001 meters Centerline goodness : 0.607941 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99996483e-01 2.49433794e-03 -9.01407947e-04 1.11441722e-02] [-2.49304426e-03 9.99995865e-01 1.43346465e-03 -4.00824352e-03] [ 9.04979765e-04 -1.43121236e-03 9.99998566e-01 -5.72207999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12264000000000001 meters Centerline goodness : 0.538918 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 0.99999474 0.00302356 -0.00117143 0.01362374] [-0.00302178 0.99999429 0.00151267 -0.00475165] [ 0.001176 -0.00150912 0.99999817 -0.00706462] [ 0. 0. 0. 1. ]] SLAMing on 0.15264000000000003 meters Centerline goodness : 0.585242 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99996581 0.00817141 -0.00126413 0.01747786] [-0.00816381 0.99994923 0.00590671 -0.00669516] [ 0.00131233 -0.00589619 0.99998176 -0.00882765] [ 0. 0. 0. 1. ]] SLAMing on 0.18264000000000002 meters Centerline goodness : 0.604981 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99996021 0.00876973 -0.00163363 0.02064818] [-0.00876064 0.99994655 0.00549111 -0.00219379] [ 0.0016817 -0.00547658 0.99998359 -0.01043366] [ 0. 0. 0. 1. ]] SLAMing on 0.21264000000000002 meters Centerline goodness : 0.519676 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99932411e-01 1.14722313e-02 -1.88703792e-03 2.76460371e-02] [-1.14606536e-02 9.99916107e-01 6.03586228e-03 2.10110504e-04] [ 1.95612442e-03 -6.01382764e-03 9.99980004e-01 -1.48772946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24264000000000002 meters Centerline goodness : 0.487401 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 0.9999302 0.0116249 -0.00211138 0.02969832] [-0.01161294 0.99991695 0.00558909 0.00349796] [ 0.00217618 -0.00556418 0.99998215 -0.01596644] [ 0. 0. 0. 1. ]] SLAMing on 0.27264 meters Centerline goodness : 0.492437 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 0.99992942 0.01164665 -0.00234894 0.03220355] [-0.01163443 0.99991905 0.00515093 0.00745214] [ 0.00240874 -0.00512324 0.99998398 -0.0175302 ] [ 0. 0. 0. 1. ]] SLAMing on 0.30264 meters Centerline goodness : 0.613206 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992825 0.01174275 -0.00236698 0.03579428] [-0.01173148 0.99992005 0.00471961 0.01062976] [ 0.00242221 -0.0046915 0.99998606 -0.01856185] [ 0. 0. 0. 1. ]] SLAMing on 0.33264 meters Centerline goodness : 0.428155 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992787 0.0117312 -0.00257675 0.03798057] [-0.01171912 0.99992051 0.00465244 0.01104582] [ 0.00263113 -0.0046219 0.99998586 -0.02013776] [ 0. 0. 0. 1. ]] SLAMing on 0.36264 meters Centerline goodness : 0.360995 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99992833 0.01164585 -0.00277543 0.04004374] [-0.01163323 0.9999221 0.00452242 0.01192851] [ 0.00282789 -0.00448981 0.99998592 -0.0216181 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39264 meters Centerline goodness : 0.071845 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957285e-01 8.60800794e-03 -3.36610683e-03 5.06911967e-02] [-8.60592116e-03 9.99962767e-01 6.33933713e-04 1.83473885e-02] [ 3.37143840e-03 -6.04938185e-04 9.99994134e-01 -2.82762426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42264 meters Centerline goodness : 0.344698 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957104e-01 8.54159821e-03 -3.58202638e-03 5.26494898e-02] [-8.53937218e-03 9.99963336e-01 6.36277479e-04 1.83176474e-02] [ 3.58732988e-03 -6.05661929e-04 9.99993382e-01 -2.93152919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45264 meters Centerline goodness : 0.322347 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99957499e-01 8.42495055e-03 -3.74442753e-03 5.43325794e-02] [-8.42295267e-03 9.99964376e-01 5.49013376e-04 1.91047563e-02] [ 3.74891955e-03 -5.17450906e-04 9.99992839e-01 -3.03066949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48264 meters Centerline goodness : 0.296645 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997579 0.00558813 0.00414619 0.08530552] [-0.00560702 0.99997389 0.00455758 0.0204173 ] [-0.00412061 -0.00458071 0.99998102 -0.04543966] [ 0. 0. 0. 1. ]] SLAMing on 0.51264 meters Centerline goodness : 0.286052 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997807 0.00539252 0.00384454 0.08787463] [-0.00540939 0.99997572 0.00439202 0.02188 ] [-0.00382076 -0.00441272 0.99998296 -0.04684976] [ 0. 0. 0. 1. ]] SLAMing on 0.54264 meters Centerline goodness : 0.355209 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.05 [[ 9.99992511e-01 1.03882080e-03 3.72810128e-03 9.26414112e-02] [-1.03670940e-03 9.99999301e-01 -5.68234144e-04 3.07133059e-02] [-3.72868897e-03 5.64364931e-04 9.99992889e-01 -4.84936781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57264 meters Centerline goodness : 0.287537 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.05 [[ 9.99993704e-01 7.97152106e-04 3.45778879e-03 9.51807409e-02] [-7.94178365e-04 9.99999314e-01 -8.61300313e-04 3.30144165e-02] [-3.45847301e-03 8.58548789e-04 9.99993651e-01 -4.98866816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6026400000000001 meters Centerline goodness : 0.302099 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99994612e-01 5.50532600e-04 3.23621753e-03 9.72523313e-02] [-5.46664925e-04 9.99999136e-01 -1.19588500e-03 3.60465089e-02] [-3.23687310e-03 1.19410943e-03 9.99994048e-01 -5.08460135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63264 meters Centerline goodness : 0.304755 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99995667e-01 2.86366670e-04 2.92977066e-03 9.98992345e-02] [-2.81661998e-04 9.99998671e-01 -1.60610253e-03 3.94213535e-02] [-2.93022670e-03 1.60527036e-03 9.99994418e-01 -5.21630217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66264 meters Centerline goodness : 0.242931 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99996633e-01 7.71321444e-05 2.59367640e-03 1.02856777e-01] [-7.22006462e-05 9.99998190e-01 -1.90139433e-03 4.10507239e-02] [-2.59381836e-03 1.90120067e-03 9.99994829e-01 -5.37375163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69264 meters Centerline goodness : 0.218672 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.06 [[ 9.99997988e-01 -8.21106095e-04 1.83014471e-03 1.13471779e-01] [ 8.25816742e-04 9.99996345e-01 -2.57465269e-03 4.28708184e-02] [-1.82802396e-03 2.57615888e-03 9.99995011e-01 -5.98953857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7226400000000001 meters Centerline goodness : 0.215564 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.06 [[ 0.99999831 -0.00103778 0.00151524 0.11608989] [ 0.00104202 0.99999554 -0.00279872 0.04448516] [-0.00151233 0.00280029 0.99999494 -0.06110719] [ 0. 0. 0. 1. ]] SLAMing on 0.7526400000000001 meters Centerline goodness : 0.220628 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99997516e-01 -2.12730425e-03 6.65746016e-04 1.27014718e-01] [ 2.12949239e-03 9.99992276e-01 -3.30348076e-03 4.76715068e-02] [-6.58713365e-04 3.30489025e-03 9.99994322e-01 -6.65604273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78264 meters Centerline goodness : 0.201954 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99997370e-01 -2.25919662e-03 3.95187797e-04 1.29402147e-01] [ 2.26046475e-03 9.99992201e-01 -3.23845406e-03 4.67795219e-02] [-3.87868410e-04 3.23933885e-03 9.99994678e-01 -6.73995471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81264 meters Centerline goodness : 0.223022 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.07 [[ 9.99996021e-01 -2.81227752e-03 2.23377485e-04 1.33052618e-01] [ 2.81300091e-03 9.99990575e-01 -3.30697961e-03 4.68543096e-02] [-2.14075235e-04 3.30759481e-03 9.99994507e-01 -6.79102446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8426400000000001 meters Centerline goodness : 0.217706 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99995412e-01 -3.02874681e-03 -6.01300328e-05 1.35545412e-01] [ 3.02851567e-03 9.99989183e-01 -3.53018571e-03 4.88668252e-02] [ 7.08214210e-05 3.52998741e-03 9.99993767e-01 -6.91357777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8726400000000001 meters Centerline goodness : 0.196154 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99994791e-01 -3.20957016e-03 -3.41350708e-04 1.38141536e-01] [ 3.20828348e-03 9.99987988e-01 -3.70538629e-03 5.03096818e-02] [ 3.53239305e-04 3.70427184e-03 9.99993077e-01 -7.04618604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90264 meters Centerline goodness : 0.196154 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99994791e-01 -3.20957016e-03 -3.41350708e-04 1.38141536e-01] [ 3.20828348e-03 9.99987988e-01 -3.70538629e-03 5.03096818e-02] [ 3.53239305e-04 3.70427184e-03 9.99993077e-01 -7.04618604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.93264 meters Centerline goodness : 0.208081 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99993728e-01 -3.51582786e-03 -4.26557633e-04 1.41483454e-01] [ 3.51411543e-03 9.99986020e-01 -3.95097608e-03 5.23417737e-02] [ 4.40442622e-04 3.94945233e-03 9.99992104e-01 -7.09934863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96264 meters Centerline goodness : 0.194702 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.07 [[ 9.99993329e-01 -3.58865583e-03 -6.80826344e-04 1.43652923e-01] [ 3.58592267e-03 9.99985674e-01 -3.97409560e-03 5.23016637e-02] [ 6.95078251e-04 3.97162770e-03 9.99991871e-01 -7.18506185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9926400000000001 meters Centerline goodness : 0.186848 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 9.99992819e-01 -3.67882502e-03 -9.10057345e-04 1.45802247e-01] [ 3.67516553e-03 9.99985284e-01 -3.99067154e-03 5.20441451e-02] [ 9.24724935e-04 3.98729827e-03 9.99991623e-01 -7.27011545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02264 meters Centerline goodness : 0.179964 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 0.99999232 -0.00374519 -0.00115158 0.1478748 ] [ 0.00374063 0.99998523 -0.00394355 0.05145819] [ 0.00116634 0.00393921 0.99999156 -0.07344847] [ 0. 0. 0. 1. ]] SLAMing on 1.05264 meters Centerline goodness : 0.178330 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.08 [[ 0.99998574 -0.00482721 -0.00228342 0.15962949] [ 0.00481781 0.99997997 -0.00410399 0.04879458] [ 0.00230319 0.00409293 0.99998897 -0.07979721] [ 0. 0. 0. 1. ]] SLAMing on 1.08264 meters Centerline goodness : 0.173729 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.08 [[ 0.99998455 -0.00487879 -0.00266567 0.1628966 ] [ 0.00486876 0.99998109 -0.00375703 0.04527416] [ 0.00268395 0.00374399 0.99998939 -0.0812794 ] [ 0. 0. 0. 1. ]] SLAMing on 1.11264 meters Centerline goodness : 0.094234 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 0.9999812 -0.00517683 -0.00328503 0.17013244] [ 0.00516631 0.99998152 -0.00320314 0.04126291] [ 0.00330155 0.00318611 0.99998947 -0.08415778] [ 0. 0. 0. 1. ]] SLAMing on 1.14264 meters Centerline goodness : 0.174491 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.09 [[ 0.99998016 -0.00516759 -0.0036013 0.17308587] [ 0.00515677 0.99998218 -0.00300712 0.03992072] [ 0.00361677 0.00298849 0.99998899 -0.08560216] [ 0. 0. 0. 1. ]] SLAMing on 1.1726400000000001 meters Centerline goodness : 0.221622 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.09 [[ 0.99997923 -0.0050751 -0.00397376 0.17626364] [ 0.00506441 0.99998354 -0.00269471 0.03760524] [ 0.00398737 0.00267453 0.99998847 -0.08701218] [ 0. 0. 0. 1. ]] SLAMing on 1.2026400000000002 meters Centerline goodness : 0.221098 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.09 [[ 0.9999798 -0.00438893 -0.00459769 0.18454335] [ 0.00438063 0.99998876 -0.00181285 0.03376927] [ 0.00460559 0.00179267 0.99998779 -0.09146159] [ 0. 0. 0. 1. ]] SLAMing on 1.2326400000000002 meters Centerline goodness : 0.056308 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99997821 -0.0044012 -0.00492078 0.18753744] [ 0.00439181 0.99998852 -0.00191859 0.03538472] [ 0.00492917 0.00189693 0.99998605 -0.09288742] [ 0. 0. 0. 1. ]] SLAMing on 1.26264 meters Centerline goodness : 0.091222 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99997664 -0.00430164 -0.00531141 0.19070779] [ 0.00429116 0.99998882 -0.00198456 0.03648028] [ 0.00531989 0.00196172 0.99998393 -0.09401287] [ 0. 0. 0. 1. ]] SLAMing on 1.29264 meters Centerline goodness : 0.084203 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.10 [[ 0.99998022 -0.00252382 -0.0057618 0.19793279] [ 0.00251619 0.99999595 -0.0013307 0.03435219] [ 0.00576514 0.00131617 0.99998252 -0.09614848] [ 0. 0. 0. 1. ]] SLAMing on 1.32264 meters Centerline goodness : 0.108224 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.10 [[ 0.99997897 -0.00220481 -0.0060984 0.2007015 ] [ 0.00219531 0.99999637 -0.00156415 0.03704211] [ 0.00610183 0.00155073 0.99998018 -0.09678299] [ 0. 0. 0. 1. ]] SLAMing on 1.35264 meters Centerline goodness : 0.203165 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.10 [[ 9.99974852e-01 -7.65982511e-04 -7.05042509e-03 2.08780739e-01] [ 7.59715902e-04 9.99999314e-01 -8.91462420e-04 3.71484842e-02] [ 7.05110310e-03 8.86083682e-04 9.99974748e-01 -1.00536947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38264 meters Centerline goodness : 0.067039 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.10 [[ 9.99971176e-01 1.12733040e-03 -7.50847640e-03 2.16866344e-01] [-1.13156981e-03 9.99999203e-01 -5.60391220e-04 3.86157569e-02] [ 7.50783867e-03 5.68871432e-04 9.99971654e-01 -1.03867808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4126400000000001 meters Centerline goodness : 0.197004 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.10 [[ 9.99968423e-01 1.15535416e-03 -7.86242180e-03 2.19793297e-01] [-1.16239058e-03 9.99998928e-01 -8.90432263e-04 4.16022281e-02] [ 7.86138460e-03 8.99543351e-04 9.99968694e-01 -1.04847204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4426400000000001 meters Centerline goodness : 0.193463 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.11 [[ 9.99956238e-01 2.10816367e-03 -9.11474430e-03 2.33249445e-01] [-2.11640396e-03 9.99997360e-01 -8.94510198e-04 4.54258415e-02] [ 9.11283446e-03 9.13761533e-04 9.99958060e-01 -1.12071911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4726400000000002 meters Centerline goodness : 0.210143 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.11 [[ 0.99995364 0.00209405 -0.00939889 0.2358578 ] [-0.00210389 0.99999725 -0.00103687 0.04647962] [ 0.00939669 0.00105659 0.99995529 -0.11314002] [ 0. 0. 0. 1. ]] SLAMing on 1.5026400000000002 meters Centerline goodness : 0.254212 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.11 [[ 9.99950963e-01 2.14078043e-03 -9.66895416e-03 2.38639142e-01] [-2.15034624e-03 9.99997209e-01 -9.79045601e-04 4.59062660e-02] [ 9.66683125e-03 9.99789191e-04 9.99952775e-01 -1.14467720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53264 meters Centerline goodness : 0.182526 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.12 [[ 9.99948618e-01 2.19487091e-03 -9.89664502e-03 2.41044857e-01] [-2.20360027e-03 9.99997193e-01 -8.71233680e-04 4.48833342e-02] [ 9.89470499e-03 8.92997164e-04 9.99950647e-01 -1.15646392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56264 meters Centerline goodness : 0.529418 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.12 [[ 9.99993389e-01 2.00817311e-03 -3.03153030e-03 2.80637515e-01] [-2.01022422e-03 9.99997753e-01 -6.73697138e-04 4.36640940e-02] [ 3.03017059e-03 6.79786739e-04 9.99995178e-01 -1.18256672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59264 meters SLAMing on 1.62264 meters Centerline goodness : 0.329851 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99994117e-01 1.62458790e-03 -3.02092236e-03 2.86962439e-01] [-1.62639630e-03 9.99998500e-01 -5.96264844e-04 4.33151888e-02] [ 3.01994914e-03 6.01174554e-04 9.99995259e-01 -1.19888349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65264 meters Centerline goodness : 0.074186 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99993368e-01 1.61771518e-03 -3.26309272e-03 2.89218400e-01] [-1.61933366e-03 9.99998567e-01 -4.93415905e-04 4.25585684e-02] [ 3.26228983e-03 4.98696669e-04 9.99994554e-01 -1.20729201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6826400000000001 meters Centerline goodness : 0.074539 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.12 [[ 9.99992375e-01 1.60852125e-03 -3.55840592e-03 2.91845882e-01] [-1.60979898e-03 9.99998641e-01 -3.56239671e-04 4.12885941e-02] [ 3.55782806e-03 3.61965273e-04 9.99993605e-01 -1.21704096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7126400000000002 meters Centerline goodness : 0.491456 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.13 [[ 9.99988098e-01 9.20375098e-04 -4.79128669e-03 3.04644251e-01] [-9.22015173e-04 9.99999517e-01 -3.40106058e-04 3.82981336e-02] [ 4.79097135e-03 3.44519650e-04 9.99988464e-01 -1.28727401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7426400000000002 meters SLAMing on 1.7726400000000002 meters Centerline goodness : 0.297610 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.14 [[ 9.99983207e-01 5.00390810e-04 -5.77364962e-03 3.19345644e-01] [-5.02036732e-04 9.99999834e-01 -2.83629066e-04 3.65623525e-02] [ 5.77350674e-03 2.86522888e-04 9.99983292e-01 -1.35813973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80264 meters Centerline goodness : 0.205339 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.14 [[ 9.99981919e-01 4.18213052e-04 -5.99886299e-03 3.21394745e-01] [-4.20947401e-04 9.99999808e-01 -4.54555840e-04 3.81091090e-02] [ 5.99867174e-03 4.57072827e-04 9.99981903e-01 -1.36396266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.83264 meters SLAMing on 1.86264 meters Centerline goodness : 0.209764 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99979379e-01 4.74672511e-04 -6.40437000e-03 3.26057774e-01] [-4.79458871e-04 9.99999607e-01 -7.45843812e-04 4.12479645e-02] [ 6.40401345e-03 7.48899064e-04 9.99979214e-01 -1.37805800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89264 meters Centerline goodness : 0.299792 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99977104e-01 6.60016021e-04 -6.73463051e-03 3.30652596e-01] [-6.66183789e-04 9.99999361e-01 -9.13626515e-04 4.27189656e-02] [ 6.73402320e-03 9.18092099e-04 9.99976905e-01 -1.38677250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9226400000000001 meters Centerline goodness : 0.304285 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99975353e-01 6.90799143e-04 -6.98684604e-03 3.32808321e-01] [-6.97303588e-04 9.99999326e-01 -9.28562722e-04 4.24921628e-02] [ 6.98619988e-03 9.33411789e-04 9.99975161e-01 -1.39117363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9526400000000002 meters Centerline goodness : 0.305402 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.14 [[ 9.99973629e-01 7.32966715e-04 -7.22524329e-03 3.34804270e-01] [-7.39328951e-04 9.99999341e-01 -8.77924987e-04 4.16910319e-02] [ 7.22459504e-03 8.83243667e-04 9.99973512e-01 -1.39544769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9826400000000002 meters Centerline goodness : 0.303587 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99970798e-01 7.15652457e-04 -7.60856845e-03 3.39150052e-01] [-7.22460156e-04 9.99999341e-01 -8.92030351e-04 4.16065304e-02] [ 7.60792505e-03 8.97501190e-04 9.99970657e-01 -1.40691147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01264 meters Centerline goodness : 0.304883 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99969128e-01 6.71793301e-04 -7.82894739e-03 3.41215784e-01] [-6.79075375e-04 9.99999339e-01 -9.27526090e-04 4.18483690e-02] [ 7.82831912e-03 9.32813900e-04 9.99968923e-01 -1.41459696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04264 meters Centerline goodness : 0.305836 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.14 [[ 9.99966729e-01 6.19151123e-04 -8.13370848e-03 3.43855545e-01] [-6.26336960e-04 9.99999416e-01 -8.80946296e-04 4.15501034e-02] [ 8.13315829e-03 8.86011428e-04 9.99966533e-01 -1.42416469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0726400000000003 meters Centerline goodness : 0.298307 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.15 [[ 9.99996318e-01 -2.70855143e-03 1.68511194e-04 3.71740539e-01] [ 2.70800386e-03 9.99991312e-01 3.16903186e-03 3.66341080e-02] [-1.77093216e-04 -3.16856387e-03 9.99994964e-01 -1.54492923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10264 meters Centerline goodness : 0.295501 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.16 [[ 9.99996189e-01 -2.75282413e-03 -2.09358323e-04 3.74501610e-01] [ 2.75357161e-03 9.99989518e-01 3.65800764e-03 3.23717194e-02] [ 1.99286277e-04 -3.65857018e-03 9.99993288e-01 -1.55060668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1326400000000003 meters Centerline goodness : 0.294118 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.16 [[ 9.99995562e-01 -2.90244334e-03 -6.71770098e-04 3.77943339e-01] [ 2.90521675e-03 9.99987106e-01 4.16502655e-03 2.73127966e-02] [ 6.59672683e-04 -4.16695971e-03 9.99991101e-01 -1.56137917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16264 meters Centerline goodness : 0.292052 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998754 -0.00470412 -0.00167078 0.38765888] [ 0.00471082 0.99998079 0.00402784 0.02189163] [ 0.0016518 -0.00403566 0.99999049 -0.16045713] [ 0. 0. 0. 1. ]] SLAMing on 2.1926400000000004 meters Centerline goodness : 0.231503 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998722 -0.00464874 -0.0019876 0.39003211] [ 0.00465753 0.99997928 0.00444441 0.01856983] [ 0.0019669 -0.00445361 0.99998815 -0.16098709] [ 0. 0. 0. 1. ]] SLAMing on 2.22264 meters Centerline goodness : 0.222300 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.16 [[ 0.99998692 -0.00454899 -0.00233931 0.39268889] [ 0.00456037 0.99997768 0.00488198 0.01531218] [ 0.00231705 -0.00489258 0.99998535 -0.16167937] [ 0. 0. 0. 1. ]] SLAMing on 2.25264 meters Centerline goodness : 0.225460 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.16 [[ 0.99998634 -0.00435788 -0.00288447 0.3976126 ] [ 0.00437305 0.99997652 0.00527602 0.01248758] [ 0.00286141 -0.00528856 0.99998192 -0.16341468] [ 0. 0. 0. 1. ]] SLAMing on 2.2826400000000002 meters Centerline goodness : 0.222580 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.16 [[ 0.99998561 -0.00433211 -0.00316335 0.39981031] [ 0.00434858 0.99997693 0.00521817 0.01309498] [ 0.00314067 -0.00523185 0.99998138 -0.16418032] [ 0. 0. 0. 1. ]] SLAMing on 2.31264 meters Centerline goodness : 0.212843 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.17 [[ 0.99998665 -0.00277936 -0.00435516 0.41057439] [ 0.00280543 0.99997812 0.00599098 0.0124822 ] [ 0.00433841 -0.00600312 0.99997257 -0.16921639] [ 0. 0. 0. 1. ]] SLAMing on 2.3426400000000003 meters Centerline goodness : 0.208848 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:-0.19 [[ 0.99999301 -0.00114277 0.0035613 0.42486664] [ 0.00111862 0.99997643 0.00677457 0.01112091] [-0.00356896 -0.00677053 0.99997071 -0.19330735] [ 0. 0. 0. 1. ]] SLAMing on 2.37264 meters Centerline goodness : 0.204488 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.19 [[ 9.99994394e-01 -9.77669541e-04 3.20242397e-03 4.27308062e-01] [ 9.56587845e-04 9.99977907e-01 6.57797307e-03 1.27799604e-02] [-3.20878430e-03 -6.57487280e-03 9.99973237e-01 -1.93843745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4026400000000003 meters Centerline goodness : 0.196257 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.19 [[ 9.99996227e-01 -1.96206876e-04 2.73990854e-03 4.31607461e-01] [ 1.78262683e-04 9.99978546e-01 6.54790332e-03 1.41922667e-02] [-2.74113450e-03 -6.54739020e-03 9.99974809e-01 -1.94287376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.43264 meters Centerline goodness : 0.192026 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.19 [[ 9.99997125e-01 -6.91107984e-05 2.39710171e-03 4.33981977e-01] [ 5.35637592e-05 9.99978969e-01 6.48522326e-03 1.50335936e-02] [-2.39749950e-03 -6.48507622e-03 9.99976098e-01 -1.94888590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4626400000000004 meters Centerline goodness : 0.187783 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.20 [[ 9.99997830e-01 -5.15631857e-05 2.08281428e-03 4.36114123e-01] [ 3.84932902e-05 9.99980313e-01 6.27466599e-03 1.66004804e-02] [-2.08309681e-03 -6.27457220e-03 9.99978145e-01 -1.95327932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49264 meters Centerline goodness : 0.185217 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.20 [[ 9.99998383e-01 -4.17953484e-05 1.79788716e-03 4.38064311e-01] [ 3.08991059e-05 9.99981636e-01 6.06018286e-03 1.83196692e-02] [-1.79810743e-03 -6.06011751e-03 9.99980021e-01 -1.95762767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52264 meters Centerline goodness : 0.179521 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998938 0.00404954 -0.00219962 0.46517381] [-0.00403955 0.99998159 0.00452817 0.01672397] [ 0.00221792 -0.00451924 0.99998733 -0.19424941] [ 0. 0. 0. 1. ]] SLAMing on 2.5526400000000002 meters Centerline goodness : 0.180470 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998874 0.00407784 -0.00242558 0.46674249] [-0.00406662 0.99998109 0.00461276 0.01602034] [ 0.00244435 -0.00460285 0.99998642 -0.19457736] [ 0. 0. 0. 1. ]] SLAMing on 2.58264 meters Centerline goodness : 0.177054 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.19 [[ 0.99998789 0.00410617 -0.00271443 0.46866363] [-0.00409339 0.99998059 0.00469746 0.01525623] [ 0.00273366 -0.00468629 0.99998528 -0.19496344] [ 0. 0. 0. 1. ]] SLAMing on 2.6126400000000003 meters Centerline goodness : 0.174126 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.20 [[ 0.99999137 0.00204229 -0.00361663 0.47702923] [-0.00203664 0.9999967 0.00156662 0.01727635] [ 0.00361982 -0.00155924 0.99999223 -0.19853794] [ 0. 0. 0. 1. ]] SLAMing on 2.64264 meters Centerline goodness : 0.173174 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.20 [[ 0.99999049 0.00204085 -0.00385377 0.47834705] [-0.00203454 0.99999659 0.00164028 0.01668803] [ 0.00385711 -0.00163243 0.99999123 -0.19844794] [ 0. 0. 0. 1. ]] SLAMing on 2.6726400000000003 meters Centerline goodness : 0.130442 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.20 [[ 9.99988331e-01 8.09492092e-04 -4.76253710e-03 4.86308040e-01] [-8.04142669e-04 9.99999044e-01 1.12503738e-03 1.56634715e-02] [ 4.76344326e-03 -1.12119449e-03 9.99988026e-01 -2.01812014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70264 meters Centerline goodness : 0.167265 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.20 [[ 9.99986569e-01 7.84334334e-04 -5.12305322e-03 4.88448896e-01] [-7.75821470e-04 9.99998316e-01 1.66345397e-03 1.13878233e-02] [ 5.12434929e-03 -1.65945705e-03 9.99985494e-01 -2.02237002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7326400000000004 meters Centerline goodness : 0.080857 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.20 [[ 9.99984504e-01 7.18109400e-04 -5.52048394e-03 4.90692157e-01] [-7.05730101e-04 9.99997233e-01 2.24405114e-03 6.52549453e-03] [ 5.52208014e-03 -2.24012040e-03 9.99982244e-01 -2.02549437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76264 meters Centerline goodness : 0.080652 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:-0.20 [[ 9.99981144e-01 -1.15987871e-04 -6.13981468e-03 4.95091965e-01] [ 1.32544201e-04 9.99996356e-01 2.69621384e-03 7.18746289e-04] [ 6.13947958e-03 -2.69697680e-03 9.99977516e-01 -2.03473296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79264 meters Centerline goodness : 0.081158 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99979418e-01 -3.75483226e-05 -6.41574201e-03 4.96715594e-01] [ 5.66787088e-05 9.99995553e-01 2.98163276e-03 -1.12916995e-03] [ 6.41560153e-03 -2.98193503e-03 9.99974974e-01 -2.03770925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8226400000000003 meters Centerline goodness : 0.081291 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99977604e-01 -2.72316698e-06 -6.69267980e-03 4.98611618e-01] [ 2.37554191e-05 9.99995062e-01 3.14249809e-03 -2.21201794e-03] [ 6.69263819e-03 -3.14258670e-03 9.99972666e-01 -2.04489201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85264 meters Centerline goodness : 0.081291 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.20 [[ 9.99977604e-01 -2.72316698e-06 -6.69267980e-03 4.98611618e-01] [ 2.37554191e-05 9.99995062e-01 3.14249809e-03 -2.21201794e-03] [ 6.69263819e-03 -3.14258670e-03 9.99972666e-01 -2.04489201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8826400000000003 meters Centerline goodness : 0.082283 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.21 [[ 9.99974464e-01 1.90078524e-04 -7.14382421e-03 5.01807885e-01] [-1.66487267e-04 9.99994532e-01 3.30277842e-03 -2.73730389e-03] [ 7.14441294e-03 -3.30150472e-03 9.99969028e-01 -2.05097096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91264 meters Centerline goodness : 0.081689 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.21 [[ 9.99972304e-01 2.28997526e-04 -7.43898953e-03 5.03383228e-01] [-2.05585249e-04 9.99995024e-01 3.14785108e-03 -1.46320379e-03] [ 7.43967337e-03 -3.14623455e-03 9.99967376e-01 -2.05243099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9426400000000004 meters Centerline goodness : 0.081350 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 9.99969154e-01 3.80403408e-04 -7.84514786e-03 5.05722321e-01] [-3.57118604e-04 9.99995528e-01 2.96923901e-03 2.34204979e-04] [ 7.84624229e-03 -2.96634578e-03 9.99964818e-01 -2.05650633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97264 meters Centerline goodness : 0.081085 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99996405 0.00115066 -0.0084012 0.50927857] [-0.0011258 0.99999498 0.0029633 0.00178321] [ 0.00840457 -0.00295373 0.99996032 -0.20629731] [ 0. 0. 0. 1. ]] SLAMing on 3.0026400000000004 meters Centerline goodness : 0.081110 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99996152 0.00123184 -0.00868569 0.51084518] [-0.0012063 0.99999493 0.00294568 0.00191407] [ 0.00868927 -0.00293509 0.99995794 -0.20649561] [ 0. 0. 0. 1. ]] SLAMing on 3.0326400000000002 meters Centerline goodness : 0.081267 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99995763 0.00140557 -0.00909712 0.51359609] [-0.00138002 0.99999509 0.00281496 0.00320211] [ 0.00910103 -0.00280229 0.99995466 -0.20711575] [ 0. 0. 0. 1. ]] SLAMing on 3.06264 meters Centerline goodness : 0.152931 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.21 [[ 0.99995544 0.00130528 -0.00934953 0.51493704] [-0.00128104 0.99999581 0.00259773 0.00471106] [ 0.00935288 -0.00258564 0.99995292 -0.20728922] [ 0. 0. 0. 1. ]] SLAMing on 3.0926400000000003 meters Centerline goodness : 0.082060 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.21 [[ 0.99995319 0.00120225 -0.00960026 0.51625154] [-0.00117926 0.99999642 0.00240057 0.00600121] [ 0.00960311 -0.00238914 0.99995103 -0.20738686] [ 0. 0. 0. 1. ]] SLAMing on 3.12264 meters Centerline goodness : 0.164039 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.21 [[ 0.99995041 0.0011497 -0.00989211 0.51780236] [-0.00112609 0.99999651 0.00239176 0.00608954] [ 0.00989483 -0.0023805 0.99994821 -0.20748388] [ 0. 0. 0. 1. ]] SLAMing on 3.1526400000000003 meters Centerline goodness : 0.164172 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:-0.21 [[ 9.99945788e-01 9.17709746e-04 -1.03720376e-02 5.20493969e-01] [-8.90581290e-04 9.99996172e-01 2.61985392e-03 3.79968486e-03] [ 1.03744021e-02 -2.61047475e-03 9.99942777e-01 -2.07540743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18264 meters Centerline goodness : 0.082540 Centerline is valid? [False, False] Translation: X:0.52, Y:0.00, Z:-0.21 [[ 9.99942754e-01 9.23159224e-04 -1.06600831e-02 5.21924650e-01] [-8.93101218e-04 9.99995613e-01 2.82409465e-03 2.28391084e-03] [ 1.06626434e-02 -2.81441244e-03 9.99939192e-01 -2.07662501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2126400000000004 meters Centerline goodness : 0.083831 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99997466e-01 -5.85418205e-04 -2.17398119e-03 5.49645574e-01] [ 5.88008348e-04 9.99999118e-01 1.19098044e-03 2.51639897e-03] [ 2.17328205e-03 -1.19225574e-03 9.99996928e-01 -2.05660531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24264 meters Centerline goodness : 0.083465 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99996931e-01 -5.64369551e-04 -2.41239179e-03 5.50782296e-01] [ 5.67606766e-04 9.99998939e-01 1.34143703e-03 1.45837730e-03] [ 2.41163217e-03 -1.34280221e-03 9.99996190e-01 -2.05715552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2726400000000004 meters Centerline goodness : 0.134897 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99996276e-01 -5.74971219e-04 -2.66802030e-03 5.52124114e-01] [ 5.78757850e-04 9.99998826e-01 1.41871095e-03 8.75438731e-04] [ 2.66720145e-03 -1.42024980e-03 9.99995434e-01 -2.05907432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3026400000000002 meters Centerline goodness : 0.129588 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.21 [[ 9.99994988e-01 -8.16772449e-04 -3.05890998e-03 5.54304398e-01] [ 8.20959519e-04 9.99998728e-01 1.36780569e-03 8.57461614e-04] [ 3.05778890e-03 -1.37031008e-03 9.99994386e-01 -2.05882959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33264 meters Centerline goodness : 0.127548 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.21 [[ 9.99993980e-01 -8.63211960e-04 -3.36090430e-03 5.55679415e-01] [ 8.68363226e-04 9.99998450e-01 1.53154502e-03 -3.73820571e-04] [ 3.35957705e-03 -1.53445428e-03 9.99993179e-01 -2.05855256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3626400000000003 meters Centerline goodness : 0.125026 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.21 [[ 9.99992751e-01 -9.41075776e-04 -3.68957558e-03 5.57206570e-01] [ 9.47950867e-04 9.99997817e-01 1.86207697e-03 -2.78756558e-03] [ 3.68781517e-03 -1.86556100e-03 9.99991460e-01 -2.06020974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39264 meters Centerline goodness : 0.125006 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.21 [[ 0.99999139 -0.00103534 -0.00401907 0.55863213] [ 0.00104417 0.99999704 0.00219665 -0.00533572] [ 0.00401678 -0.00220083 0.99998951 -0.20610998] [ 0. 0. 0. 1. ]] SLAMing on 3.4226400000000003 meters Centerline goodness : 0.122176 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 9.99986377e-01 -3.24991491e-03 -4.08467550e-03 5.56828545e-01] [ 3.25369924e-03 9.99994283e-01 9.20166790e-04 -6.62001012e-03] [ 4.08166168e-03 -9.33444560e-04 9.99991234e-01 -2.03446981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45264 meters Centerline goodness : 0.119357 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 0.99998474 -0.00328552 -0.0044404 0.55866509] [ 0.00329134 0.99999373 0.00130414 -0.00921931] [ 0.00443608 -0.00131873 0.99998929 -0.20403858] [ 0. 0. 0. 1. ]] SLAMing on 3.4826400000000004 meters Centerline goodness : 0.113398 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.20 [[ 0.99997987 -0.00392758 -0.0049839 0.56163344] [ 0.00393662 0.99999062 0.00180645 -0.01447752] [ 0.00497676 -0.00182603 0.99998595 -0.20443774] [ 0. 0. 0. 1. ]] SLAMing on 3.51264 meters Centerline goodness : 0.114231 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.20 [[ 0.99997863 -0.00384223 -0.00528872 0.56282724] [ 0.00385407 0.99999009 0.00222887 -0.01719121] [ 0.00528011 -0.00224921 0.99998353 -0.20424024] [ 0. 0. 0. 1. ]] SLAMing on 3.5426400000000005 meters Centerline goodness : 0.112075 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.20 [[ 0.99997725 -0.00376173 -0.00559924 0.564003 ] [ 0.00377607 0.99998961 0.00255355 -0.01918242] [ 0.00558958 -0.00257464 0.99998106 -0.20402453] [ 0. 0. 0. 1. ]] SLAMing on 3.5726400000000003 meters Centerline goodness : 0.110112 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.20 [[ 0.99997512 -0.00358754 -0.00607324 0.56600243] [ 0.00360579 0.99998901 0.00299724 -0.02178851] [ 0.00606242 -0.00301907 0.99997707 -0.2032845 ] [ 0. 0. 0. 1. ]] SLAMing on 3.60264 meters Centerline goodness : 0.112212 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.20 [[ 0.99997436 -0.00345657 -0.00627226 0.56681345] [ 0.00347721 0.99998856 0.00328334 -0.02341217] [ 0.00626084 -0.00330506 0.99997494 -0.2032802 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6326400000000003 meters Centerline goodness : 0.109292 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.21 [[ 9.99999555e-01 -7.72501772e-04 5.40848857e-04 5.85417055e-01] [ 7.74686315e-04 9.99991496e-01 -4.05061064e-03 -2.29678729e-02] [-5.37715154e-04 4.05102783e-03 9.99991650e-01 -2.09267142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66264 meters Centerline goodness : 0.108577 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.21 [[ 9.99999709e-01 -6.99771899e-04 3.04695232e-04 5.86415081e-01] [ 7.00946222e-04 9.99992261e-01 -3.87119234e-03 -2.39376035e-02] [-3.01983923e-04 3.87140479e-03 9.99992460e-01 -2.09336041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6926400000000004 meters Centerline goodness : 0.108913 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.21 [[ 9.99999821e-01 -5.95319717e-04 6.73971963e-05 5.87299342e-01] [ 5.95559294e-04 9.99993298e-01 -3.61231017e-03 -2.54074879e-02] [-6.52462651e-05 3.61234966e-03 9.99993473e-01 -2.09288147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72264 meters Centerline goodness : 0.108162 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.21 [[ 9.99999893e-01 -4.38956933e-04 -1.43862939e-04 5.88131708e-01] [ 4.38504090e-04 9.99994997e-01 -3.13280006e-03 -2.81681470e-02] [ 1.45237384e-04 3.13273664e-03 9.99995082e-01 -2.09354567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7526400000000004 meters Centerline goodness : 0.105305 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:-0.21 [[ 0.9999857 -0.00178856 -0.00503954 0.63689006] [ 0.00177152 0.9999927 -0.00338439 -0.03467814] [ 0.00504556 0.00337541 0.99998157 -0.20856191] [ 0. 0. 0. 1. ]] SLAMing on 3.7826400000000002 meters Centerline goodness : 0.107172 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.21 [[ 0.99998473 -0.00173178 -0.00524878 0.63757543] [ 0.00171654 0.9999943 -0.00290661 -0.03764858] [ 0.00525378 0.00289756 0.999982 -0.20831106] [ 0. 0. 0. 1. ]] SLAMing on 3.8126400000000005 meters Centerline goodness : 0.107455 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.21 [[ 0.99997856 -0.00288454 -0.00587844 0.6429621 ] [ 0.0028615 0.99998821 -0.00392347 -0.03866285] [ 0.00588969 0.00390656 0.99997502 -0.21148519] [ 0. 0. 0. 1. ]] SLAMing on 3.8426400000000003 meters Centerline goodness : 0.100146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.21 [[ 0.99995684 -0.00631397 -0.00681626 0.64691461] [ 0.00625886 0.9999478 -0.00807614 -0.03943869] [ 0.0068669 0.00803313 0.99994416 -0.21057041] [ 0. 0. 0. 1. ]] SLAMing on 3.87264 meters Centerline goodness : 0.099612 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.21 [[ 0.99996904 -0.00290322 -0.00731329 0.64741836] [ 0.00288498 0.9999927 -0.00250345 -0.04712199] [ 0.00732051 0.00248227 0.99997012 -0.21156525] [ 0. 0. 0. 1. ]] SLAMing on 3.9026400000000003 meters Centerline goodness : 0.100067 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.21 [[ 0.99996722 -0.00280026 -0.00759785 0.64802003] [ 0.0027873 0.99999464 -0.00171547 -0.05116143] [ 0.00760261 0.00169424 0.99996966 -0.21169274] [ 0. 0. 0. 1. ]] SLAMing on 3.93264 meters Centerline goodness : 0.099178 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.21 [[ 0.99995457 -0.00423166 -0.00854081 0.65477608] [ 0.00421078 0.9999881 -0.00246155 -0.05787112] [ 0.00855112 0.00242547 0.9999605 -0.21470375] [ 0. 0. 0. 1. ]] SLAMing on 3.9626400000000004 meters Centerline goodness : 0.099712 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.22 [[ 9.99958995e-01 -6.23599761e-04 -9.03438998e-03 6.55004607e-01] [ 6.54215929e-04 9.99994053e-01 3.38628842e-03 -6.66948837e-02] [ 9.03222456e-03 -3.39206001e-03 9.99953455e-01 -2.15283534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99264 meters Centerline goodness : 0.098405 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.22 [[ 0.99995154 -0.00141739 -0.00974182 0.66086262] [ 0.00144708 0.99999433 0.00304092 -0.07330599] [ 0.00973745 -0.00305487 0.99994792 -0.21832743] [ 0. 0. 0. 1. ]] SLAMing on 4.022640000000001 meters Centerline goodness : 0.099803 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 0.99994663 -0.00100949 -0.01028161 0.6625354 ] [ 0.00104693 0.99999284 0.00363695 -0.07587634] [ 0.01027787 -0.00364752 0.99994053 -0.21814358] [ 0. 0. 0. 1. ]] SLAMing on 4.052640000000001 meters Centerline goodness : 0.099367 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 9.99944366e-01 -7.48011574e-04 -1.05216364e-02 6.63194758e-01] [ 7.90650049e-04 9.99991491e-01 4.04888097e-03 -7.77531586e-02] [ 1.05185182e-02 -4.05697465e-03 9.99936449e-01 -2.17814048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0826400000000005 meters Centerline goodness : 0.098743 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 9.99941684e-01 -5.00863874e-04 -1.07878664e-02 6.63966243e-01] [ 5.48234374e-04 9.99990220e-01 4.38858119e-03 -7.92806496e-02] [ 1.07855629e-02 -4.39423954e-03 9.99932179e-01 -2.17536893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112640000000001 meters Centerline goodness : 0.098713 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99935951e-01 5.28039451e-04 -1.13054927e-02 6.65679078e-01] [-4.68455790e-04 9.99985991e-01 5.27232822e-03 -8.21067939e-02] [ 1.13081184e-02 -5.26669441e-03 9.99922191e-01 -2.17313619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142640000000001 meters Centerline goodness : 0.098886 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99932260e-01 7.71338119e-04 -1.16137948e-02 6.66665735e-01] [-7.07751583e-04 9.99984744e-01 5.47820181e-03 -8.27337857e-02] [ 1.16178431e-02 -5.46961103e-03 9.99917551e-01 -2.17238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17264 meters Centerline goodness : 0.071190 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.22 [[ 9.99929368e-01 1.03808849e-03 -1.18397862e-02 6.67155999e-01] [-9.69759449e-04 9.99982852e-01 5.77541954e-03 -8.39355718e-02] [ 1.18455786e-02 -5.76352987e-03 9.99913228e-01 -2.16758456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202640000000001 meters Centerline goodness : 0.071531 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.22 [[ 0.99992624 0.00180537 -0.01201104 0.6674513 ] [-0.00172699 0.99997717 0.00653302 -0.08670513] [ 0.01202256 -0.00651179 0.99990652 -0.21560788] [ 0. 0. 0. 1. ]] SLAMing on 4.232640000000001 meters Centerline goodness : 0.280993 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.22 [[ 0.99992439 0.00193444 -0.01214384 0.66789235] [-0.00185383 0.9999762 0.00664535 -0.08707559] [ 0.0121564 -0.00662234 0.99990418 -0.21566765] [ 0. 0. 0. 1. ]] SLAMing on 4.262640000000001 meters Centerline goodness : 0.275318 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99948533e-01 6.08428170e-03 -8.11864252e-03 6.88612446e-01] [-6.08415700e-03 9.99981491e-01 4.00586150e-05 -8.73449875e-02] [ 8.11873597e-03 9.33854237e-06 9.99967042e-01 -2.19799455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2926400000000005 meters Centerline goodness : 0.072921 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99947070e-01 6.26557247e-03 -8.16085187e-03 6.88660484e-01] [-6.26238175e-03 9.99980304e-01 4.16474246e-04 -8.91599127e-02] [ 8.16330058e-03 -3.65345832e-04 9.99966613e-01 -2.19644568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322640000000001 meters Centerline goodness : 0.071991 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.09, Z:-0.22 [[ 9.99944856e-01 6.46502788e-03 -8.27581301e-03 6.88867234e-01] [-6.45812841e-03 9.99978776e-01 8.60143376e-04 -9.13510268e-02] [ 8.28119822e-03 -8.06649680e-04 9.99965385e-01 -2.19343135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352640000000001 meters Centerline goodness : 0.947489 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.22 [[ 0.99994117 0.00681383 -0.00843984 0.68915677] [-0.00679831 0.99997515 0.00186643 -0.09658641] [ 0.00845235 -0.00180894 0.99996264 -0.21901098] [ 0. 0. 0. 1. ]] SLAMing on 4.382640000000001 meters Centerline goodness : 0.743251 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.22 [[ 0.99993905 0.00700978 -0.0085294 0.68923005] [-0.0069893 0.99997263 0.00242813 -0.09952467] [ 0.00854619 -0.00236837 0.99996068 -0.21864074] [ 0. 0. 0. 1. ]] SLAMing on 4.412640000000001 meters Centerline goodness : 0.730533 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.21 [[ 0.99997168 0.00473062 -0.00585287 0.70316627] [-0.00466495 0.99992658 0.01118364 -0.10527675] [ 0.00590534 -0.01115602 0.99992033 -0.21435247] [ 0. 0. 0. 1. ]] SLAMing on 4.442640000000001 meters Centerline goodness : 0.956988 Centerline is valid? [False, True] Translation: X:0.68, Y:-0.11, Z:-0.21 [[ 0.99995927 0.00682765 -0.00590232 0.68451747] [-0.00681744 0.99997523 0.00174954 -0.10714992] [ 0.00591412 -0.00170923 0.99998105 -0.21483193] [ 0. 0. 0. 1. ]] SLAMing on 4.472640000000001 meters Centerline goodness : 0.962893 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.11, Z:-0.22 [[ 9.99971681e-01 7.33650722e-03 -1.67719491e-03 7.12671686e-01] [-7.33649772e-03 9.99973087e-01 1.18196269e-05 -1.09664565e-01] [ 1.67723649e-03 4.85444398e-07 9.99998593e-01 -2.18569834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50264 meters Centerline goodness : 0.954170 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.11, Z:-0.22 [[ 9.99952392e-01 9.20037907e-03 -3.25055812e-03 7.42405185e-01] [-9.20033089e-03 9.99957676e-01 2.97754474e-05 -1.13153297e-01] [ 3.25069448e-03 1.32180442e-07 9.99994716e-01 -2.23845780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532640000000001 meters Centerline goodness : 0.962120 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.12, Z:-0.21 [[ 9.99905769e-01 1.35492372e-02 -2.20713013e-03 7.73303422e-01] [-1.35492295e-02 9.99908205e-01 1.84135344e-05 -1.15365246e-01] [ 2.20717702e-03 1.14931135e-05 9.99997564e-01 -2.14995177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562640000000001 meters Centerline goodness : 0.976965 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.12, Z:-0.20 [[ 9.99851426e-01 1.71647460e-02 1.58009788e-03 8.05181137e-01] [-1.71647473e-02 9.99852675e-01 -1.27189954e-05 -1.15497838e-01] [-1.58008341e-03 -1.44048750e-05 9.99998752e-01 -2.04525069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592640000000001 meters Centerline goodness : 0.955043 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.11, Z:-0.21 [[ 9.99816899e-01 1.61611732e-02 -1.02462072e-02 8.37809668e-01] [-1.61608980e-02 9.99869398e-01 1.09661110e-04 -1.10886149e-01] [ 1.02466413e-02 5.59468781e-05 9.99947500e-01 -2.06510352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6226400000000005 meters Centerline goodness : 0.983436 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.11, Z:-0.20 [[ 9.99726217e-01 2.26110741e-02 6.01924520e-03 8.67168159e-01] [-2.26111260e-02 9.99744334e-01 -5.94286947e-05 -1.12292954e-01] [-6.01905003e-03 -7.66894877e-05 9.99981882e-01 -2.03104211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652640000000001 meters Centerline goodness : 0.097911 Centerline is valid? [True, False] Translation: X:0.87, Y:-0.11, Z:-0.20 [[ 0.99970947 0.02342458 0.00567984 0.86912952] [-0.02341654 0.9997247 -0.00147795 -0.10530776] [-0.00571289 0.00134452 0.99998278 -0.20204869] [ 0. 0. 0. 1. ]] SLAMing on 4.682640000000001 meters Centerline goodness : 0.085061 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:-0.20 [[ 0.99970852 0.02361064 0.00504209 0.87129628] [-0.02359944 0.99971892 -0.00226912 -0.10190642] [-0.00509425 0.00214947 0.99998471 -0.20158504] [ 0. 0. 0. 1. ]] SLAMing on 4.71264 meters Centerline goodness : 0.075505 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.20 [[ 0.99969947 0.02400298 0.00498315 0.87214654] [-0.02398337 0.99970452 -0.00395872 -0.09424152] [-0.0050767 0.00383802 0.99997975 -0.20025066] [ 0. 0. 0. 1. ]] SLAMing on 4.742640000000001 meters Centerline goodness : 0.075505 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.20 [[ 0.99969947 0.02400298 0.00498315 0.87214654] [-0.02398337 0.99970452 -0.00395872 -0.09424152] [-0.0050767 0.00383802 0.99997975 -0.20025066] [ 0. 0. 0. 1. ]] SLAMing on 4.772640000000001 meters Centerline goodness : 0.993988 Centerline is valid? [False, True] Translation: X:0.87, Y:-0.09, Z:-0.20 [[ 9.99593935e-01 2.79769450e-02 5.40878789e-03 8.71150358e-01] [-2.79781399e-02 9.99608525e-01 1.45367732e-04 -9.35982054e-02] [-5.40260354e-03 -2.96636528e-04 9.99985362e-01 -2.00262437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802640000000001 meters Centerline goodness : 0.079654 Centerline is valid? [True, False] Translation: X:0.87, Y:-0.09, Z:-0.20 [[ 0.99960277 0.0277181 0.00509915 0.87240695] [-0.02771237 0.99961523 -0.00119113 -0.08795917] [-0.0051302 0.00104934 0.99998629 -0.2000563 ] [ 0. 0. 0. 1. ]] SLAMing on 4.8326400000000005 meters Centerline goodness : 0.996588 Centerline is valid? [False, True] Translation: X:0.85, Y:-0.08, Z:-0.20 [[ 0.9996953 0.02417096 0.00500667 0.85393982] [-0.02420164 0.99968812 0.00616055 -0.08321751] [-0.0048562 -0.00627985 0.99996849 -0.20260077] [ 0. 0. 0. 1. ]] SLAMing on 4.862640000000001 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.10, Z:-0.19 [[ 0.9997262 0.02047684 0.01132339 0.88502822] [-0.02085862 0.9991803 0.03469357 -0.09662484] [-0.01060369 -0.03492026 0.99933385 -0.19289723] [ 0. 0. 0. 1. ]] SLAMing on 4.892640000000001 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.07, Z:-0.21 [[ 9.99606520e-01 1.88749925e-02 2.07494613e-02 9.12761578e-01] [-1.88712455e-02 9.99821851e-01 -3.76390008e-04 -7.36642231e-02] [-2.07528692e-02 -1.53262743e-05 9.99784636e-01 -2.09046659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922640000000001 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:0.94, Y:0.08, Z:-0.20 [[ 0.99912397 0.02670387 -0.03222097 0.94049319] [-0.03429837 0.9636725 -0.2648753 0.0759766 ] [ 0.02397727 0.26574839 0.9637442 -0.19799625] [ 0. 0. 0. 1. ]] SLAMing on 4.952640000000001 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.19, Z:-0.17 [[ 9.99885395e-01 -3.82247226e-03 1.46487367e-02 9.98376029e-01] [ 3.70662835e-04 9.73491161e-01 2.28724338e-01 -1.91112846e-01] [-1.51347081e-02 -2.28692696e-01 9.73381010e-01 -1.72187706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982640000000001 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.08, Z:-0.21 [[ 0.99965292 0.00661908 0.02549966 1.02098708] [-0.0071467 0.99976109 0.02065622 -0.07633415] [-0.02535684 -0.02083129 0.9994614 -0.21413143] [ 0. 0. 0. 1. ]] SLAMing on 5.012640000000001 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.05, Z:-0.22 [[ 0.99983403 0.00431016 0.01770146 1.05337705] [-0.00393852 0.99977222 -0.02097611 -0.048978 ] [-0.01778784 0.02090291 0.99962326 -0.21983571] [ 0. 0. 0. 1. ]] SLAMing on 5.0426400000000005 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.06, Z:-0.22 [[ 0.99985018 0.00140576 0.01725217 1.08679186] [-0.00145036 0.99999564 0.00257283 -0.06117163] [-0.01724847 -0.00259747 0.99984786 -0.21803076] [ 0. 0. 0. 1. ]] SLAMing on 5.072640000000001 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.08, Z:-0.22 [[ 9.99497983e-01 -8.32842421e-04 3.16715619e-02 1.11618873e+00] [-3.38050037e-04 9.99317187e-01 3.69465225e-02 -8.06365632e-02] [-3.16807068e-02 -3.69386813e-02 9.98815231e-01 -2.19824575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102640000000001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.04, Z:-0.23 [[ 0.99983084 0.00311558 0.01812673 1.14999912] [-0.00247688 0.99937892 -0.03515154 -0.03820371] [-0.01822498 0.0351007 0.99921759 -0.22519891] [ 0. 0. 0. 1. ]] SLAMing on 5.132640000000001 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.05, Z:-0.22 [[ 0.9998436 0.00255299 0.0175 1.18146096] [-0.00249117 0.99999058 -0.00355339 -0.05271728] [-0.01750891 0.00350924 0.99984055 -0.22355937] [ 0. 0. 0. 1. ]] SLAMing on 5.162640000000001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.07, Z:-0.23 [[ 0.99948863 0.00646014 0.03131685 1.21048344] [-0.00751326 0.99940619 0.03362766 -0.06709221] [-0.03108101 -0.03384576 0.99894366 -0.2257778 ] [ 0. 0. 0. 1. ]] SLAMing on 5.192640000000001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.05, Z:-0.23 [[ 0.99924926 0.01087435 0.03718408 1.24232626] [-0.01140869 0.99983425 0.01418839 -0.05220844] [-0.03702363 -0.01460196 0.9992077 -0.22955954] [ 0. 0. 0. 1. ]] SLAMing on 5.222640000000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.02, Z:-0.23 [[ 0.99964835 0.01655071 0.02071842 1.27727697] [-0.01569283 0.99903976 -0.04090601 -0.01750784] [-0.02137555 0.04056649 0.99894817 -0.22823307] [ 0. 0. 0. 1. ]] SLAMing on 5.25264 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.03, Z:-0.23 [[ 9.99593828e-01 1.91458646e-02 2.11095695e-02 1.31042710e+00] [-1.91630307e-02 9.99816185e-01 6.11183582e-04 -3.33407761e-02] [-2.10939876e-02 -1.01545866e-03 9.99776981e-01 -2.27351311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282640000000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.06, Z:-0.23 [[ 0.99908677 0.01911603 0.03821256 1.33768659] [-0.0209548 0.99861243 0.04831273 -0.05709228] [-0.03723599 -0.04906934 0.99810104 -0.23022188] [ 0. 0. 0. 1. ]] SLAMing on 5.312640000000001 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.02, Z:-0.24 [[ 0.99906727 0.0233152 0.03634551 1.36850124] [-0.02295337 0.99968305 -0.01034126 -0.02026928] [-0.0365751 0.00949736 0.99928578 -0.23941718] [ 0. 0. 0. 1. ]] SLAMing on 5.342640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.40, Y:0.00, Z:-0.24 [[ 9.99491960e-01 2.37652026e-02 2.12376200e-02 1.40305631e+00] [-2.29034674e-02 9.98939662e-01 -3.99372428e-02 5.03161837e-04] [-2.21642176e-02 3.94305380e-02 9.98976466e-01 -2.35714103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3726400000000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.05, Z:-0.24 [[ 0.99910074 0.01757197 0.03858674 1.43051304] [-0.01957741 0.99844344 0.05222474 -0.0466169 ] [-0.03760898 -0.0529332 0.99788959 -0.23655132] [ 0. 0. 0. 1. ]] SLAMing on 5.402640000000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:1.47, Y:0.02, Z:-0.24 [[ 0.99956716 0.0208961 0.02070873 1.46668096] [-0.01975219 0.9983465 -0.05398265 0.01579384] [-0.02180251 0.05355024 0.99832711 -0.24028186] [ 0. 0. 0. 1. ]] SLAMing on 5.432640000000001 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.01, Z:-0.24 [[ 0.99968505 0.01681754 0.01862742 1.49973342] [-0.01673671 0.99984986 -0.00448681 -0.00918147] [-0.01870008 0.00417364 0.99981643 -0.2386802 ] [ 0. 0. 0. 1. ]] SLAMing on 5.462640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.02, Z:-0.24 [[ 0.99953474 0.01270362 0.02772954 1.53148808] [-0.01360642 0.99937537 0.03261494 -0.02466193] [-0.0272979 -0.03297706 0.99908325 -0.23860087] [ 0. 0. 0. 1. ]] SLAMing on 5.492640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:0.01, Z:-0.24 [[ 0.99969915 0.01370737 0.02033992 1.56724368] [-0.01319188 0.99959374 -0.02526525 0.01147826] [-0.02067797 0.02498933 0.99947384 -0.2404889 ] [ 0. 0. 0. 1. ]] SLAMing on 5.522640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.60, Y:0.00, Z:-0.24 [[ 9.99742421e-01 8.50337872e-03 2.10424177e-02 1.59664536e+00] [-8.53345870e-03 9.99962691e-01 1.34011193e-03 2.85027243e-03] [-2.10302372e-02 -1.51933134e-03 9.99777686e-01 -2.40646098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.63, Y:0.01, Z:-0.24 [[ 9.99750932e-01 6.19821339e-03 2.14395950e-02 1.62831646e+00] [-6.19388759e-03 9.99980782e-01 -2.68166434e-04 5.69231508e-03] [-2.14408451e-02 1.35305201e-04 9.99770110e-01 -2.42659121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5826400000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.01, Z:-0.25 [[ 0.99943796 0.00244373 0.03343348 1.65593322] [-0.00362981 0.99936446 0.03546125 -0.01277943] [-0.03332557 -0.03556268 0.99881164 -0.24654776] [ 0. 0. 0. 1. ]] SLAMing on 5.612640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.26 [[ 9.99380869e-01 -6.29905814e-04 3.51778557e-02 1.69039765e+00] [ 8.32307024e-04 9.99983184e-01 -5.73930650e-03 1.35465656e-02] [-3.51736489e-02 5.76503189e-03 9.99364588e-01 -2.55759880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.72, Y:0.03, Z:-0.25 [[ 0.99974685 -0.00293304 0.02230779 1.72251354] [ 0.0035209 0.99964635 -0.02635883 0.02861265] [-0.02222259 0.0264307 0.99940361 -0.24948879] [ 0. 0. 0. 1. ]] SLAMing on 5.672640000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.75, Y:0.00, Z:-0.25 [[ 0.99946181 -0.00858543 0.03166045 1.75470533] [ 0.00771972 0.9995957 0.02736517 0.00182252] [-0.03188259 -0.02710603 0.999124 -0.25252011] [ 0. 0. 0. 1. ]] SLAMing on 5.702640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.79, Y:0.02, Z:-0.25 [[ 9.99500878e-01 -1.09048987e-02 2.96492597e-02 1.78758567e+00] [ 1.09056215e-02 9.99940523e-01 1.37332585e-04 1.90917573e-02] [-2.96489939e-02 1.86079566e-04 9.99560355e-01 -2.53822571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:0.02, Z:-0.26 [[ 9.99486237e-01 -1.19518557e-02 2.97391106e-02 1.82025143e+00] [ 1.19533264e-02 9.99928548e-01 1.28331227e-04 1.94020739e-02] [-2.97385195e-02 2.27216000e-04 9.99557687e-01 -2.55425416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.85, Y:0.02, Z:-0.26 [[ 9.99482179e-01 -1.23585262e-02 2.97092608e-02 1.85293880e+00] [ 1.23602269e-02 9.99923601e-01 1.26409813e-04 1.94284589e-02] [-2.97085533e-02 2.40868849e-04 9.99558574e-01 -2.56893356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7926400000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.88, Y:0.02, Z:-0.26 [[ 9.99450380e-01 -1.24673461e-02 3.07165021e-02 1.88439645e+00] [ 1.24544480e-02 9.99922254e-01 6.11203539e-04 1.93192701e-02] [-3.07217340e-02 -2.28310531e-04 9.99527950e-01 -2.59054816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.92, Y:0.02, Z:-0.26 [[ 9.99418311e-01 -1.35456109e-02 3.12978561e-02 1.91728932e+00] [ 1.35613731e-02 9.99907998e-01 -2.91392820e-04 2.12336219e-02] [-3.12910295e-02 7.15665225e-04 9.99510060e-01 -2.61383707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.95, Y:0.02, Z:-0.26 [[ 9.99405184e-01 -1.40889681e-02 3.14766510e-02 1.95009801e+00] [ 1.40919845e-02 9.99900695e-01 1.26018680e-04 2.15028439e-02] [-3.14753007e-02 3.17624756e-04 9.99504480e-01 -2.63212909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:0.02, Z:-0.27 [[ 9.99359078e-01 -1.51116031e-02 3.24510809e-02 1.98278171e+00] [ 1.51155656e-02 9.99885746e-01 1.23227575e-04 2.04193901e-02] [-3.24492354e-02 3.67367846e-04 9.99473317e-01 -2.65091556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.02, Y:0.02, Z:-0.27 [[ 9.99344435e-01 -1.48761721e-02 3.30060631e-02 2.01601344e+00] [ 1.48804674e-02 9.99889273e-01 1.15512928e-04 1.88274150e-02] [-3.30041268e-02 3.75708444e-04 9.99455145e-01 -2.66973981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942640000000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.05, Y:0.04, Z:-0.27 [[ 0.99957449 -0.01245396 0.02637667 2.05036657] [ 0.01355772 0.99902187 -0.04208916 0.0403929 ] [-0.0258267 0.04242886 0.99876562 -0.27219536] [ 0. 0. 0. 1. ]] SLAMing on 5.972640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.01, Z:-0.27 [[ 0.99932482 -0.0164058 0.03287468 2.0802173 ] [ 0.01499469 0.99897455 0.0427202 -0.01074442] [-0.03354183 -0.04219841 0.99854606 -0.26827784] [ 0. 0. 0. 1. ]] SLAMing on 6.002640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.11, Y:0.01, Z:-0.27 [[ 9.99320350e-01 -1.31914490e-02 3.44212686e-02 2.11330722e+00] [ 1.31952962e-02 9.99912932e-01 1.15406272e-04 1.13128495e-02] [-3.44197940e-02 3.38871001e-04 9.99407406e-01 -2.73457540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.14, Y:0.01, Z:-0.27 [[ 9.99359658e-01 -1.19430041e-02 3.37288880e-02 2.14498406e+00] [ 1.19462138e-02 9.99928636e-01 1.06367082e-04 1.01337403e-02] [-3.37277513e-02 2.96633536e-04 9.99431014e-01 -2.73942816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:0.01, Z:-0.28 [[ 9.99355358e-01 -9.47546222e-03 3.46278064e-02 2.17654176e+00] [ 9.47759474e-03 9.99955081e-01 1.02562539e-04 8.21534552e-03] [-3.46272228e-02 2.25691893e-04 9.99400272e-01 -2.76145587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.21, Y:0.01, Z:-0.28 [[ 9.99354788e-01 -7.85175900e-03 3.50479236e-02 2.20934377e+00] [ 7.85316359e-03 9.99969159e-01 9.75866707e-05 6.54465583e-03] [-3.50476089e-02 1.77713371e-04 9.99385628e-01 -2.77901464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.24, Y:0.01, Z:-0.28 [[ 9.99355944e-01 -6.22800933e-03 3.53399030e-02 2.24206014e+00] [ 6.22866306e-03 9.99980597e-01 9.15972688e-05 5.10721848e-03] [-3.53397878e-02 1.28582074e-04 9.99375346e-01 -2.79588305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:0.00, Z:-0.28 [[ 9.99358253e-01 -4.01985838e-03 3.55938546e-02 2.27368248e+00] [ 4.01938211e-03 9.99991919e-01 8.49363490e-05 3.70393419e-03] [-3.55939084e-02 5.81834610e-05 9.99366334e-01 -2.82268280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:0.00, Z:-0.28 [[ 9.99380960e-01 9.03035437e-04 3.51693364e-02 2.30648479e+00] [-9.06336168e-04 9.99999586e-01 7.79100818e-05 1.69578430e-03] [-3.51692515e-02 -1.09737094e-04 9.99381364e-01 -2.84819472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:0.00, Z:-0.29 [[ 9.99385280e-01 3.82543855e-03 3.48486419e-02 2.33968797e+00] [-3.83022287e-03 9.99992662e-01 7.05299791e-05 8.10756010e-04] [-3.48481163e-02 -2.03964688e-04 9.99392599e-01 -2.87054281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99368355e-01 1.14271772e-02 3.36498174e-02 2.36849141e+00] [-1.13158434e-02 9.99929858e-01 -3.49719089e-03 5.45831166e-04] [-3.36874202e-02 3.11420585e-03 9.99427566e-01 -2.89101756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.00, Z:-0.29 [[ 0.99931737 0.0130764 0.0345513 2.40324197] [-0.01320929 0.9999062 0.0036209 -0.00369737] [-0.03450071 -0.00407483 0.99939637 -0.29158572] [ 0. 0. 0. 1. ]] SLAMing on 6.302640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.43, Y:0.00, Z:-0.29 [[ 9.99345162e-01 1.61270938e-02 3.23907887e-02 2.43420309e+00] [-1.58910647e-02 9.99845366e-01 -7.53119519e-03 1.78401921e-03] [-3.25072363e-02 7.01153936e-03 9.99446906e-01 -2.93364434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3326400000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.01, Z:-0.30 [[ 0.99926886 0.01604418 0.03470347 2.46722636] [-0.0163368 0.99983321 0.0081649 -0.00741803] [-0.03456669 -0.00872587 0.9993643 -0.29570335] [ 0. 0. 0. 1. ]] SLAMing on 6.362640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.00, Z:-0.30 [[ 9.99258373e-01 1.62311163e-02 3.49178319e-02 2.49879242e+00] [-1.62425135e-02 9.99868081e-01 4.27414355e-05 -2.97313832e-03] [-3.49125318e-02 -6.09863093e-04 9.99390186e-01 -2.99314700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.00, Z:-0.30 [[ 9.99268342e-01 1.52541845e-02 3.50726332e-02 2.53143447e+00] [-1.52648741e-02 9.99883484e-01 3.70168551e-05 -2.37234019e-03] [-3.50679820e-02 -5.72369102e-04 9.99384765e-01 -3.01565808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.00, Z:-0.31 [[ 9.99226435e-01 1.21066842e-02 3.74160378e-02 2.56387908e+00] [-1.21163738e-02 9.99926594e-01 3.22209478e-05 -1.78484973e-03] [-3.74129011e-02 -4.85542724e-04 9.99299774e-01 -3.05580629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.00, Z:-0.31 [[ 9.99294030e-01 1.01764997e-02 3.61646346e-02 2.59621036e+00] [-1.01840252e-02 9.99948141e-01 2.38807717e-05 -2.09060841e-03] [-3.61625161e-02 -3.92165463e-04 9.99345845e-01 -3.06608457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.00, Z:-0.31 [[ 9.99311826e-01 8.49756430e-03 3.61063158e-02 2.62908539e+00] [-8.50372662e-03 9.99963843e-01 1.71029181e-05 -2.12535045e-03] [-3.61048650e-02 -3.24129388e-04 9.99347954e-01 -3.07764407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.00, Z:-0.31 [[ 9.99297612e-01 7.29935018e-03 3.67559757e-02 2.66103041e+00] [-7.30464655e-03 9.99973321e-01 9.80544089e-06 -2.03583958e-03] [-3.67549235e-02 -2.78287965e-04 9.99324271e-01 -3.08941253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.00, Z:-0.31 [[ 9.99122516e-01 5.91201730e-03 4.14637925e-02 2.69298166e+00] [-5.91719716e-03 9.99982493e-01 2.19747176e-06 -1.26576050e-03] [-4.14630536e-02 -2.47544979e-04 9.99140007e-01 -3.11064153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.00, Z:-0.31 [[ 9.99168160e-01 5.55934413e-03 4.03990234e-02 2.72631871e+00] [-5.56369840e-03 9.99984522e-01 -4.64820899e-06 -1.53651447e-03] [-4.03984239e-02 -2.20123639e-04 9.99183626e-01 -3.10990905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.00, Z:-0.31 [[ 9.99005396e-01 6.04102029e-03 4.41783366e-02 2.75933833e+00] [-6.04628122e-03 9.99981721e-01 -1.45390558e-05 -1.27816132e-03] [-4.41776169e-02 -2.52590051e-04 9.99023661e-01 -3.14729715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:0.00, Z:-0.32 [[ 9.98987350e-01 6.86801925e-03 4.44646450e-02 2.79131691e+00] [-6.87377031e-03 9.99976375e-01 -2.35559333e-05 1.72687367e-03] [-4.44637563e-02 -2.82107677e-04 9.99010958e-01 -3.17122572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:0.00, Z:-0.32 [[ 9.98986764e-01 6.95285793e-03 4.44646378e-02 2.82476258e+00] [-6.95827254e-03 9.99975790e-01 -3.30024536e-05 1.56340268e-03] [-4.44637908e-02 -2.76428054e-04 9.99010958e-01 -3.19084033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:0.00, Z:-0.32 [[ 9.99110833e-01 6.88540222e-03 4.15948878e-02 2.85712325e+00] [-6.89001514e-03 9.99976263e-01 -3.24564076e-05 3.39632047e-03] [-4.15941240e-02 -2.54161858e-04 9.99134558e-01 -3.19536717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:0.01, Z:-0.32 [[ 9.99075851e-01 6.49688309e-03 4.24880601e-02 2.89016738e+00] [-6.50101791e-03 9.99978867e-01 -4.08538008e-05 5.32144087e-03] [-4.24874277e-02 -2.35399594e-04 9.99096974e-01 -3.22783325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:0.01, Z:-0.33 [[ 9.99029084e-01 6.04147704e-03 4.36393247e-02 2.92299216e+00] [-6.04503025e-03 9.99981727e-01 -5.05419549e-05 5.68378044e-03] [-4.36388326e-02 -2.13308155e-04 9.99047350e-01 -3.25933261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:0.01, Z:-0.33 [[ 9.98996497e-01 5.55476870e-03 4.44425791e-02 2.95608954e+00] [-5.55759214e-03 9.99984555e-01 -6.00284487e-05 5.94091492e-03] [-4.44422261e-02 -1.87025518e-04 9.99011939e-01 -3.28794470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.99, Y:0.01, Z:-0.33 [[ 9.98973979e-01 4.70027901e-03 4.50432771e-02 2.98859400e+00] [-4.70190240e-03 9.99988944e-01 -6.99083677e-05 7.21980402e-03] [-4.50431077e-02 -1.41952452e-04 9.98985034e-01 -3.32830761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:0.01, Z:-0.33 [[ 9.98967078e-01 2.81805429e-03 4.53523430e-02 3.02078626e+00] [-2.81730646e-03 9.99996028e-01 -8.04080853e-05 7.72733905e-03] [-4.53523894e-02 -4.74464187e-05 9.98971050e-01 -3.33997243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8726400000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:0.01, Z:-0.34 [[ 9.99024810e-01 1.60154980e-03 4.41232777e-02 3.05237961e+00] [-1.59946309e-03 9.99998717e-01 -8.25968023e-05 7.50780611e-03] [-4.41233534e-02 1.19427009e-05 9.99026091e-01 -3.35407299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:0.01, Z:-0.34 [[ 9.98963532e-01 3.52837266e-04 4.55163328e-02 3.08503270e+00] [-3.48934981e-04 9.99999935e-01 -9.36789485e-05 7.59908947e-03] [-4.55163629e-02 7.76996125e-05 9.98963590e-01 -3.38025415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:0.01, Z:-0.34 [[ 9.98995620e-01 -1.98380838e-03 4.47639912e-02 3.11704272e+00] [ 1.99032951e-03 9.99998014e-01 -1.01108624e-04 9.36050505e-03] [-4.47637018e-02 1.90102166e-04 9.98997585e-01 -3.39051348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.01, Z:-0.34 [[ 9.98924321e-01 -2.91241775e-03 4.62787036e-02 3.14999756e+00] [ 2.92079919e-03 9.99995728e-01 -1.13487303e-04 1.06291111e-02] [-4.62781754e-02 2.48536027e-04 9.98928560e-01 -3.41279601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.18, Y:0.01, Z:-0.34 [[ 9.98917487e-01 -4.22952021e-03 4.63245581e-02 3.18296086e+00] [ 4.23974509e-03 9.99991005e-01 -1.22469646e-04 1.24187912e-02] [-4.63236234e-02 3.18741389e-04 9.98926434e-01 -3.44702308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:0.01, Z:-0.35 [[ 9.98922745e-01 -4.20827163e-03 4.62129934e-02 3.21574920e+00] [ 4.21883655e-03 9.99991092e-01 -1.31081012e-04 1.22846107e-02] [-4.62120301e-02 3.25904870e-04 9.98931600e-01 -3.45389503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:0.01, Z:-0.35 [[ 9.98944670e-01 -3.64156986e-03 4.57852068e-02 3.24812827e+00] [ 3.65176624e-03 9.99993323e-01 -1.39059770e-04 1.29508762e-02] [-4.57843947e-02 3.06109889e-04 9.98951298e-01 -3.47173791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:0.01, Z:-0.35 [[ 9.98992703e-01 -1.98268921e-03 4.48291036e-02 3.28141037e+00] [ 1.99115174e-03 9.99998007e-01 -1.44120603e-04 1.49139166e-02] [-4.48287285e-02 2.33236979e-04 9.98994660e-01 -3.50240662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.02, Z:-0.35 [[ 9.99007922e-01 -1.11076058e-03 4.45189732e-02 3.31425901e+00] [ 1.11862812e-03 9.99999363e-01 -1.51811278e-04 1.55674730e-02] [-4.45187762e-02 2.01460844e-04 9.99008527e-01 -3.52484734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:0.02, Z:-0.35 [[ 9.99004043e-01 -2.97236950e-04 4.46187542e-02 3.34725502e+00] [ 3.04728169e-04 9.99999941e-01 -1.61092354e-04 1.62666945e-02] [-4.46187036e-02 1.74528504e-04 9.99004074e-01 -3.54675051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172640000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.38, Y:0.02, Z:-0.36 [[ 9.99002612e-01 1.07445107e-03 4.46388409e-02 3.37962477e+00] [-1.06787230e-03 9.99999415e-01 -1.71223673e-04 1.82478235e-02] [-4.46389988e-02 1.23384315e-04 9.99003175e-01 -3.56599262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:0.02, Z:-0.36 [[ 9.98991586e-01 1.52413040e-03 4.48719102e-02 3.41192386e+00] [-1.51771777e-03 9.99998833e-01 -1.76977987e-04 1.87978726e-02] [-4.48721276e-02 1.08696624e-04 9.98992733e-01 -3.58241905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232640000000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:3.44, Y:0.02, Z:-0.36 [[ 9.99000336e-01 1.94509103e-03 4.46603382e-02 3.44476055e+00] [-1.93879849e-03 9.99998104e-01 -1.84212545e-04 2.01192895e-02] [-4.46606119e-02 9.74409975e-05 9.99002212e-01 -3.61613043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:0.02, Z:-0.36 [[ 9.99014386e-01 2.09857018e-03 4.43379264e-02 3.47779040e+00] [-2.09214433e-03 9.99997793e-01 -1.91332027e-04 2.06933692e-02] [-4.43382300e-02 9.83821066e-05 9.99016572e-01 -3.62126361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:0.02, Z:-0.36 [[ 9.99044442e-01 1.63108999e-03 4.36754287e-02 3.51065500e+00] [-1.62403846e-03 9.99998662e-01 -1.96934804e-04 2.20038965e-02] [-4.36756915e-02 1.25816045e-04 9.99045754e-01 -3.64298273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:0.02, Z:-0.37 [[ 9.99002453e-01 7.06843832e-04 4.46497401e-02 3.54241162e+00] [-6.98110045e-04 9.99999734e-01 -2.11199370e-04 2.20868485e-02] [-4.46498775e-02 1.79818257e-04 9.99002681e-01 -3.66356459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:0.02, Z:-0.37 [[ 9.98964787e-01 -2.92200329e-03 4.53962082e-02 3.57517994e+00] [ 2.93519126e-03 9.99995667e-01 -2.23853174e-04 2.30745840e-02] [-4.53953574e-02 3.56867992e-04 9.98969036e-01 -3.68014866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:0.02, Z:-0.37 [[ 9.98979226e-01 -5.27796920e-03 4.48625601e-02 3.60677829e+00] [ 5.29361562e-03 9.99985962e-01 -2.29967386e-04 2.30256878e-02] [-4.48607165e-02 4.67217790e-04 9.98993142e-01 -3.69732043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.02, Z:-0.37 [[ 9.98981277e-01 -7.81113476e-03 4.44454013e-02 3.64019974e+00] [ 7.82934058e-03 9.99969322e-01 -2.35559138e-04 2.25597101e-02] [-4.44421978e-02 5.83297352e-04 9.99011787e-01 -3.71954386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:0.02, Z:-0.37 [[ 9.98941695e-01 -1.16500752e-02 4.44945499e-02 3.67305272e+00] [ 1.16724977e-02 9.99931844e-01 -2.44152500e-04 1.99594233e-02] [-4.44886729e-02 7.63256641e-04 9.99009597e-01 -3.74023452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.02, Z:-0.38 [[ 9.98933520e-01 -1.25354386e-02 4.44374340e-02 3.70510897e+00] [ 1.25590969e-02 9.99921099e-01 -2.53240761e-04 1.83575766e-02] [-4.44307533e-02 8.11064725e-04 9.99012137e-01 -3.76033293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.02, Z:-0.38 [[ 9.98962608e-01 -1.27702507e-02 4.37107319e-02 3.73825556e+00] [ 1.27937232e-02 9.99918124e-01 -2.57282984e-04 1.66599375e-02] [-4.37038675e-02 8.16239088e-04 9.99044196e-01 -3.77685660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:0.01, Z:-0.38 [[ 9.99001405e-01 -1.12164408e-02 4.32479430e-02 3.77143259e+00] [ 1.12383253e-02 9.99936813e-01 -2.62917322e-04 1.39964592e-02] [-4.32422613e-02 7.48689225e-04 9.99064335e-01 -3.78807717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562640000000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:3.80, Y:0.01, Z:-0.38 [[ 9.99029304e-01 -9.53705879e-03 4.30057514e-02 3.80465250e+00] [ 9.55751749e-03 9.99954289e-01 -2.70131248e-04 1.33479519e-02] [-4.30012093e-02 6.80897253e-04 9.99074788e-01 -3.81715129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:0.01, Z:-0.38 [[ 9.99049981e-01 -7.13156138e-03 4.29915928e-02 3.83660450e+00] [ 7.15017600e-03 9.99974398e-01 -2.79226457e-04 1.22200388e-02] [-4.29885008e-02 5.86358641e-04 9.99075395e-01 -3.82885049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622640000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.87, Y:0.01, Z:-0.39 [[ 9.99112288e-01 -2.02336864e-03 4.20777988e-02 3.86942793e+00] [ 2.03699752e-03 9.99997886e-01 -2.81024324e-04 1.16182332e-02] [-4.20771412e-02 3.66487227e-04 9.99114298e-01 -3.86235525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.01, Z:-0.39 [[ 9.99080538e-01 4.50014035e-04 4.28704616e-02 3.90107259e+00] [-4.37743268e-04 9.99999860e-01 -2.95615969e-04 1.01671738e-02] [-4.28705887e-02 2.76577905e-04 9.99080595e-01 -3.87317600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:0.01, Z:-0.39 [[ 9.99085995e-01 2.56327051e-03 4.26685483e-02 3.93382590e+00] [-2.55269701e-03 9.99996696e-01 -3.02288433e-04 8.47561450e-03] [-4.26691822e-02 1.93092264e-04 9.99089237e-01 -3.89000871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:0.01, Z:-0.39 [[ 9.99049577e-01 5.73451247e-03 4.32094621e-02 3.96560134e+00] [-5.72624089e-03 9.99983555e-01 -3.15200007e-04 6.83035019e-03] [-4.32105591e-02 6.74726452e-05 9.99065985e-01 -3.90516615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:0.01, Z:-0.39 [[ 9.99047796e-01 7.35747940e-03 4.30042883e-02 3.99902099e+00] [-7.35044904e-03 9.99972933e-01 -3.21603897e-04 6.16150961e-03] [-4.30054906e-02 5.19683440e-06 9.99074836e-01 -3.92432989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:0.01, Z:-0.39 [[ 9.98995008e-01 1.07672961e-02 4.35090827e-02 4.03145312e+00] [-1.07629330e-02 9.99942022e-01 -3.34538646e-04 6.40744982e-03] [-4.35101623e-02 -1.34082906e-04 9.99052975e-01 -3.94011399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:0.01, Z:-0.40 [[ 9.98951824e-01 1.28105196e-02 4.39447900e-02 4.06433137e+00] [-1.28076834e-02 9.99917918e-01 -3.46103511e-04 6.81911684e-03] [-4.39456167e-02 -2.17090224e-04 9.99033901e-01 -3.96093377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:0.01, Z:-0.40 [[ 9.98931697e-01 1.46593380e-02 4.38242898e-02 4.09743233e+00] [-1.46579172e-02 9.99892504e-01 -3.53777751e-04 7.66149348e-03] [-4.38247651e-02 -2.88973004e-04 9.99039192e-01 -3.97940451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:0.01, Z:-0.40 [[ 9.98902435e-01 1.66754192e-02 4.37704970e-02 4.12928686e+00] [-1.66755338e-02 9.99860888e-01 -3.62530814e-04 8.07494575e-03] [-4.37704534e-02 -3.67763491e-04 9.99041547e-01 -3.99893881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:0.01, Z:-0.40 [[ 9.98880175e-01 1.83767109e-02 4.35969385e-02 4.16268477e+00] [-1.83780861e-02 9.99831041e-01 -3.69294652e-04 7.99076256e-03] [-4.35963588e-02 -4.32347181e-04 9.99049133e-01 -4.02281910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:0.01, Z:-0.40 [[ 9.98898534e-01 1.92786176e-02 4.27791188e-02 4.19534530e+00] [-1.92804125e-02 9.99814047e-01 -3.70669021e-04 7.98782303e-03] [-4.27783099e-02 -4.54538316e-04 9.99084486e-01 -4.04833718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9526400000000015 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:0.01, Z:-0.41 [[ 9.98924020e-01 1.80395344e-02 4.27244283e-02 4.22827344e+00] [-1.80398269e-02 9.99837197e-01 -3.78731007e-04 7.69825954e-03] [-4.27243048e-02 -3.92417792e-04 9.99086823e-01 -4.06938746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:0.01, Z:-0.41 [[ 9.99008426e-01 1.25382676e-02 4.27195225e-02 4.26038637e+00] [-1.25331517e-02 9.99921382e-01 -3.87593199e-04 5.28639314e-03] [-4.27210237e-02 -1.48201382e-04 9.99087029e-01 -4.09278371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:0.00, Z:-0.41 [[ 9.99017353e-01 8.94453498e-03 4.34087987e-02 4.29228997e+00] [-8.93545245e-03 9.99959997e-01 -4.03261926e-04 3.24911696e-03] [-4.34106692e-02 1.49884059e-05 9.99057312e-01 -4.11359349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:0.00, Z:-0.41 [[ 9.99047447e-01 5.20076057e-03 4.33260926e-02 4.32480816e+00] [-5.18800589e-03 9.99986459e-01 -4.06824402e-04 1.06849297e-03] [-4.33276218e-02 1.81660856e-04 9.99060901e-01 -4.12817545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.00, Z:-0.41 [[ 9.99041575e-01 1.53222096e-03 4.37445206e-02 4.35721947e+00] [-1.51531181e-03 9.99998764e-01 -4.19699760e-04 -1.12151190e-03] [-4.37451096e-02 3.53010921e-04 9.99042662e-01 -4.14447942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.00, Z:-0.42 [[ 9.98985953e-01 -3.57246099e-03 4.48809996e-02 4.39001052e+00] [ 3.59578646e-03 9.99993439e-01 -4.38996739e-04 -4.50250638e-03] [-4.48791368e-02 5.99934066e-04 9.98992244e-01 -4.15443972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.01, Z:-0.42 [[ 9.98968565e-01 -4.71137974e-03 4.51620309e-02 4.42228966e+00] [ 4.73657155e-03 9.99988681e-01 -4.50813954e-04 -6.68001954e-03] [-4.51593958e-02 6.64262160e-04 9.98979573e-01 -4.16853064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.01, Z:-0.42 [[ 9.98989240e-01 -5.05227871e-03 4.46651085e-02 4.45515488e+00] [ 5.07760906e-03 9.99987006e-01 -4.53682002e-04 -9.74247270e-03] [-4.46622360e-02 6.80015399e-04 9.99001913e-01 -4.18236992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.01, Z:-0.42 [[ 9.99025584e-01 -4.43969955e-03 4.39109556e-02 4.48658040e+00] [ 4.46396853e-03 9.99989933e-01 -4.54645336e-04 -1.40518785e-02] [-4.39084951e-02 6.50219446e-04 9.99035345e-01 -4.21416351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.02, Z:-0.42 [[ 9.98989404e-01 -3.25538955e-03 4.48282537e-02 4.52004026e+00] [ 3.27986340e-03 9.99994510e-01 -4.72405554e-04 -1.64553433e-02] [-4.48264698e-02 6.18958692e-04 9.98994597e-01 -4.21391197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.02, Z:-0.42 [[ 9.98952007e-01 -1.35188963e-03 4.57499827e-02 4.55174781e+00] [ 1.37585370e-03 9.99998932e-01 -4.92319920e-04 -1.85099773e-02] [-4.57492683e-02 5.54749255e-04 9.98952800e-01 -4.23043814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.02, Z:-0.42 [[ 9.98963420e-01 -7.62244701e-04 4.55137837e-02 4.58493309e+00] [ 7.85561716e-04 9.99999569e-01 -4.94422650e-04 -1.97442540e-02] [-4.55133872e-02 5.29664028e-04 9.98963588e-01 -4.24867460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.02, Z:-0.43 [[ 9.98947936e-01 -1.21319356e-04 4.58585524e-02 4.61785890e+00] [ 1.44726004e-04 9.99999861e-01 -5.07089795e-04 -2.19824516e-02] [-4.58584846e-02 5.13193229e-04 9.98947814e-01 -4.27487428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:-0.43 [[ 9.98955130e-01 2.32106989e-04 4.57011403e-02 4.64925764e+00] [-2.08806853e-04 9.99999846e-01 -5.14610258e-04 -2.57880727e-02] [-4.57012527e-02 5.04529846e-04 9.98955024e-01 -4.29800271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.03, Z:-0.43 [[ 9.99005631e-01 -2.20292622e-04 4.45836454e-02 4.68165944e+00] [ 2.43266065e-04 9.99999840e-01 -5.09863682e-04 -3.31346014e-02] [-4.45835259e-02 5.20202377e-04 9.99005525e-01 -4.32463640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.04, Z:-0.43 [[ 9.99054784e-01 -4.04558163e-04 4.34669303e-02 4.71306963e+00] [ 4.26941539e-04 9.99999781e-01 -5.05669787e-04 -3.55146108e-02] [-4.34667163e-02 5.23749658e-04 9.99054738e-01 -4.34739477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432640000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.04, Z:-0.44 [[ 9.99111672e-01 -5.18792649e-04 4.21378319e-02 4.74539907e+00] [ 5.40236643e-04 9.99999730e-01 -4.97515562e-04 -3.72458656e-02] [-4.21375624e-02 5.19838006e-04 9.99111683e-01 -4.39104575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.04, Z:-0.44 [[ 9.99138877e-01 -6.68560957e-04 4.14856368e-02 4.77676194e+00] [ 6.89815042e-04 9.99999638e-01 -4.98011170e-04 -4.16464576e-02] [-4.14852889e-02 5.26199737e-04 9.99138976e-01 -4.41593424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.04, Z:-0.44 [[ 9.99111074e-01 3.79229166e-04 4.21535118e-02 4.81011832e+00] [-3.57887381e-04 9.99999804e-01 -5.13832546e-04 -4.43643630e-02] [-4.21536984e-02 4.98289577e-04 9.99111014e-01 -4.41071964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.05, Z:-0.44 [[ 9.99076462e-01 2.35017484e-03 4.29033810e-02 4.84308222e+00] [-2.32952729e-03 9.99997146e-01 -5.31246093e-04 -4.68910787e-02] [-4.29045071e-02 4.30810870e-04 9.99079085e-01 -4.42688739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.05, Z:-0.44 [[ 9.99076259e-01 2.43713187e-03 4.29032526e-02 4.87652143e+00] [-2.41612847e-03 9.99996935e-01 -5.41399558e-04 -4.74485275e-02] [-4.29044406e-02 4.37239675e-04 9.99079085e-01 -4.44650387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.05, Z:-0.44 [[ 9.98988442e-01 8.13920101e-03 4.42249566e-02 4.90851199e+00] [-8.12235191e-03 9.99966856e-01 -5.60669285e-04 -5.22385566e-02] [-4.42280542e-02 2.00891475e-04 9.99021441e-01 -4.44769809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.05, Z:-0.45 [[ 9.98932959e-01 1.23291435e-02 4.45077043e-02 4.94094669e+00] [-1.23158721e-02 9.99923993e-01 -5.72392247e-04 -5.44675824e-02] [-4.45113785e-02 2.36302882e-05 9.99008877e-01 -4.48538020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.05, Z:-0.45 [[ 9.98836804e-01 2.05197309e-02 4.36346219e-02 4.97447387e+00] [-2.05144285e-02 9.99789395e-01 -5.69345019e-04 -5.40848510e-02] [-4.36371150e-02 -3.26456572e-04 9.99047394e-01 -4.49141038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.05, Z:-0.45 [[ 9.98800188e-01 2.44251418e-02 4.24452251e-02 5.00788506e+00] [-2.44233114e-02 9.99701549e-01 -5.61761581e-04 -5.33227786e-02] [-4.24462784e-02 -4.75565377e-04 9.99098637e-01 -4.51809054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.05, Z:-0.45 [[ 9.98737181e-01 2.77965883e-02 4.18496409e-02 5.03968129e+00] [-2.77974179e-02 9.99613419e-01 -5.62200298e-04 -5.30827272e-02] [-4.18490899e-02 -6.01821617e-04 9.99123762e-01 -4.54456390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.05, Z:-0.46 [[ 9.98572740e-01 3.32467913e-02 4.17987407e-02 5.07220640e+00] [-3.32520771e-02 9.99446835e-01 -5.68977278e-04 -5.21289105e-02] [-4.17945357e-02 -8.21729750e-04 9.99125889e-01 -4.56447271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.05, Z:-0.46 [[ 9.98499978e-01 3.52693279e-02 4.18792212e-02 5.10556953e+00] [-3.52760744e-02 9.99377438e-01 -5.78116103e-04 -5.09446148e-02] [-4.18735386e-02 -9.00085608e-04 9.99122513e-01 -4.58193161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.05, Z:-0.46 [[ 9.98420133e-01 3.68394138e-02 4.24275406e-02 5.13752257e+00] [-3.68473788e-02 9.99320728e-01 -5.94541449e-04 -4.90972949e-02] [-4.24206233e-02 -9.69741511e-04 9.99099370e-01 -4.59691111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.05, Z:-0.46 [[ 9.98350946e-01 3.80052371e-02 4.30231338e-02 5.16937042e+00] [-3.80141527e-02 9.99277014e-01 -6.11171655e-04 -4.78572704e-02] [-4.30152563e-02 -1.02532418e-03 9.99073889e-01 -4.61297823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.05, Z:-0.46 [[ 9.98304021e-01 3.84470327e-02 4.37139240e-02 5.20198713e+00] [-3.84563318e-02 9.99260084e-01 -6.28506361e-04 -4.57690100e-02] [-4.37057436e-02 -1.05363674e-03 9.99043892e-01 -4.62525864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.04, Z:-0.46 [[ 9.98276753e-01 3.85123738e-02 4.42755208e-02 5.23373945e+00] [-3.85215854e-02 9.99257560e-01 -6.45447290e-04 -4.44189247e-02] [-4.42675065e-02 -1.06122823e-03 9.99019150e-01 -4.64314837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.04, Z:-0.47 [[ 9.98225866e-01 3.81202220e-02 4.57380464e-02 5.26640708e+00] [-3.81292618e-02 9.99272587e-01 -6.75094827e-04 -3.94960548e-02] [-4.57305107e-02 -1.07006083e-03 9.98953240e-01 -4.65656428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.04, Z:-0.47 [[ 9.98187176e-01 3.78831057e-02 4.67678522e-02 5.29841963e+00] [-3.78918466e-02 9.99281601e-01 -6.99950690e-04 -3.75794030e-02] [-4.67607706e-02 -1.07343848e-03 9.98905540e-01 -4.67146167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.04, Z:-0.47 [[ 9.98203109e-01 3.73184934e-02 4.68815907e-02 5.33117733e+00] [-3.73262514e-02 9.99302880e-01 -7.10252742e-04 -3.57809999e-02] [-4.68754142e-02 -1.04093754e-03 9.98900201e-01 -4.69248606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.03, Z:-0.47 [[ 9.98307891e-01 3.53062010e-02 4.62041931e-02 5.36297762e+00] [-3.53111633e-02 9.99376115e-01 -7.09048243e-04 -3.12979379e-02] [-4.62004008e-02 -9.23675350e-04 9.98931764e-01 -4.71221528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.03, Z:-0.47 [[ 9.98376930e-01 3.40502318e-02 4.56518121e-02 5.39497058e+00] [-3.40533526e-02 9.99419765e-01 -7.09566923e-04 -2.96733531e-02] [-4.56494842e-02 -8.46182009e-04 9.98957161e-01 -4.73239672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.03, Z:-0.48 [[ 9.98460044e-01 3.25723443e-02 4.49063745e-02 5.42675428e+00] [-3.25736282e-02 9.99469091e-01 -7.03354846e-04 -2.79451390e-02] [-4.49054432e-02 -7.60491836e-04 9.98990952e-01 -4.78138960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.03, Z:-0.48 [[ 9.98552634e-01 3.06549447e-02 4.41917673e-02 5.45907264e+00] [-3.06541189e-02 9.99529809e-01 -6.96506196e-04 -2.74240047e-02] [-4.41923401e-02 -6.59161594e-04 9.99022824e-01 -4.78042995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.03, Z:-0.48 [[ 9.98743927e-01 2.57859586e-02 4.29610574e-02 5.49239843e+00] [-2.57803668e-02 9.99667397e-01 -6.84276605e-04 -2.69800732e-02] [-4.29644131e-02 -4.24134716e-04 9.99076513e-01 -4.80489761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.03, Z:-0.48 [[ 9.98798403e-01 2.38386141e-02 4.28190434e-02 5.52475940e+00] [-2.38309229e-02 9.99715765e-01 -6.90128690e-04 -2.71019021e-02] [-4.28233244e-02 -3.31117886e-04 9.99082606e-01 -4.84399946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.02, Z:-0.48 [[ 9.98881224e-01 2.07551088e-02 4.24914883e-02 5.55698810e+00] [-2.07443887e-02 9.99784572e-01 -6.93250640e-04 -2.45397254e-02] [-4.24967229e-02 -1.88984902e-04 9.99096588e-01 -4.83680632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.02, Z:-0.49 [[ 9.98900724e-01 2.01719955e-02 4.23135242e-02 5.58994870e+00] [-2.01605255e-02 9.99796512e-01 -6.97820132e-04 -2.26382687e-02] [-4.23189903e-02 -1.56009850e-04 9.99104138e-01 -4.85640825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.02, Z:-0.49 [[ 9.98883804e-01 2.01501852e-02 4.27213703e-02 5.62242090e+00] [-2.01381257e-02 9.99796953e-01 -7.12668552e-04 -2.11692176e-02] [-4.27270563e-02 -1.48455249e-04 9.99086771e-01 -4.90212339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.02, Z:-0.49 [[ 9.98866987e-01 1.98276863e-02 4.32620528e-02 5.65567880e+00] [-1.98146533e-02 9.99803404e-01 -7.30091333e-04 -2.31401214e-02] [-4.32680237e-02 -1.27958448e-04 9.99063492e-01 -4.89986959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.02, Z:-0.49 [[ 9.98857160e-01 1.96751365e-02 4.35575860e-02 5.68860514e+00] [-1.96613989e-02 9.99806419e-01 -7.43812965e-04 -2.48184405e-02] [-4.35637887e-02 -1.13440171e-04 9.99050641e-01 -4.91383908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.03, Z:-0.49 [[ 9.98866733e-01 1.94323232e-02 4.34469076e-02 5.72050346e+00] [-1.94180416e-02 9.99811170e-01 -7.50756030e-04 -2.61992636e-02] [-4.34532925e-02 -9.37486374e-05 9.99055455e-01 -4.92877575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.03, Z:-0.50 [[ 9.98855678e-01 1.87433633e-02 4.40002369e-02 5.75375847e+00] [-1.87276890e-02 9.99824326e-01 -7.68452056e-04 -2.68388795e-02] [-4.40069106e-02 -5.64500513e-05 9.99031225e-01 -4.96281503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.03, Z:-0.50 [[ 9.98855934e-01 1.90198956e-02 4.38755721e-02 5.78663477e+00] [-1.90041966e-02 9.99819104e-01 -7.74928434e-04 -2.73466042e-02] [-4.38823742e-02 -5.97781340e-05 9.99036703e-01 -4.96851531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.03, Z:-0.50 [[ 9.98846306e-01 1.95846494e-02 4.38462980e-02 5.81893366e+00] [-1.95691227e-02 9.99808200e-01 -7.83352837e-04 -2.79374417e-02] [-4.38532300e-02 -7.55844990e-05 9.99037982e-01 -4.98939475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.03, Z:-0.50 [[ 9.98834962e-01 2.03715292e-02 4.37460787e-02 5.85182235e+00] [-2.03564794e-02 9.99792474e-01 -7.89514724e-04 -3.02147522e-02] [-4.37530839e-02 -1.01921241e-04 9.99042370e-01 -5.01165426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.03, Z:-0.50 [[ 9.98818289e-01 2.10974545e-02 4.37826831e-02 5.88465649e+00] [-2.10826997e-02 9.99777416e-01 -7.98776292e-04 -3.24261522e-02] [-4.37897899e-02 -1.25224788e-04 9.99040759e-01 -5.03046231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.03, Z:-0.50 [[ 9.98800050e-01 2.18584660e-02 4.38254171e-02 5.91641891e+00] [-2.18440217e-02 9.99761064e-01 -8.08510165e-04 -3.47084902e-02] [-4.38326184e-02 -1.49783368e-04 9.99038878e-01 -5.04854889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.04, Z:-0.51 [[ 9.98811647e-01 2.23749649e-02 4.32972879e-02 5.94954081e+00] [-2.23610159e-02 9.99749636e-01 -8.06516868e-04 -3.65252760e-02] [-4.33044936e-02 -1.62612899e-04 9.99061907e-01 -5.06557492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.04, Z:-0.51 [[ 9.98762706e-01 2.36230841e-02 4.37607931e-02 5.98154592e+00] [-2.36096369e-02 9.99720914e-01 -8.24171467e-04 -3.81565396e-02] [-4.37680496e-02 -2.10024713e-04 9.99041698e-01 -5.10366355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.04, Z:-0.51 [[ 9.98737809e-01 2.39684643e-02 4.41395633e-02 6.01482349e+00] [-2.39547613e-02 9.99712691e-01 -8.39430038e-04 -3.92307683e-02] [-4.41470015e-02 -2.18982187e-04 9.99025022e-01 -5.09408356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.04, Z:-0.51 [[ 9.98724251e-01 2.46201964e-02 4.40876032e-02 6.04809361e+00] [-2.46067776e-02 9.99696848e-01 -8.47113132e-04 -4.03556854e-02] [-4.40950940e-02 -2.38821420e-04 9.99027310e-01 -5.11325899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.04, Z:-0.52 [[ 9.98683361e-01 2.57793078e-02 4.43505642e-02 6.08050633e+00] [-2.57664866e-02 9.99667618e-01 -8.60817763e-04 -4.19820278e-02] [-4.43580141e-02 -2.83073841e-04 9.99015659e-01 -5.15226566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.04, Z:-0.51 [[ 9.98658531e-01 2.65669381e-02 4.44447555e-02 6.11228163e+00] [-2.65544249e-02 9.99646989e-01 -8.72020199e-04 -4.42091735e-02] [-4.44522329e-02 -3.09354512e-04 9.99011463e-01 -5.14580449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.05, Z:-0.52 [[ 9.98630641e-01 2.81709671e-02 4.40822011e-02 6.14426954e+00] [-2.81598071e-02 9.99603052e-01 -8.74241768e-04 -4.60080417e-02] [-4.40893309e-02 -3.68301660e-04 9.99027525e-01 -5.16558785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.05, Z:-0.52 [[ 9.98601546e-01 2.91617890e-02 4.40969759e-02 6.17574203e+00] [-2.91513854e-02 9.99574621e-01 -8.79100104e-04 -4.61740037e-02] [-4.41038541e-02 -4.07617217e-04 9.99026868e-01 -5.18465198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.05, Z:-0.52 [[ 9.98576866e-01 3.01253281e-02 4.40080340e-02 6.20850925e+00] [-3.01155575e-02 9.99546032e-01 -8.85136287e-04 -4.59053326e-02] [-4.40147207e-02 -4.41449857e-04 9.99030785e-01 -5.20544717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.05, Z:-0.52 [[ 9.98538467e-01 3.11454046e-02 4.41689120e-02 6.24084313e+00] [-3.11361693e-02 9.99514749e-01 -8.97203521e-04 -4.58743984e-02] [-4.41754228e-02 -4.79358491e-04 9.99023675e-01 -5.22545342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.05, Z:-0.52 [[ 9.98525020e-01 3.12497301e-02 4.43986250e-02 6.27422349e+00] [-3.12401465e-02 9.99511493e-01 -9.09857523e-04 -4.62854170e-02] [-4.44053688e-02 -4.78504049e-04 9.99013481e-01 -5.23805493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.05, Z:-0.53 [[ 9.98509761e-01 3.09475970e-02 4.49500098e-02 6.30746948e+00] [-3.09370765e-02 9.99520902e-01 -9.29860636e-04 -4.58400711e-02] [-4.49572512e-02 -4.62146970e-04 9.98988805e-01 -5.28365196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.05, Z:-0.53 [[ 9.98544689e-01 2.84730083e-02 4.58016549e-02 6.33906127e+00] [-2.84590505e-02 9.99594501e-01 -9.56927560e-04 -4.62648946e-02] [-4.58103290e-02 -3.47936676e-04 9.98950095e-01 -5.30720466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.05, Z:-0.53 [[ 9.98600500e-01 2.68232616e-02 4.55802019e-02 6.37120358e+00] [-2.68073395e-02 9.99640157e-01 -9.60654730e-04 -4.88920226e-02] [-4.55895681e-02 -2.62573655e-04 9.98960221e-01 -5.29837830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.05, Z:-0.53 [[ 9.98649821e-01 2.50699973e-02 4.54975768e-02 6.40292461e+00] [-2.50519361e-02 9.99685683e-01 -9.67213732e-04 -5.07599411e-02] [-4.55075242e-02 -1.73894565e-04 9.98963981e-01 -5.31567116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.05, Z:-0.53 [[ 9.98684192e-01 2.34306484e-02 4.56167715e-02 6.43616433e+00] [-2.34104127e-02 9.99725461e-01 -9.77858555e-04 -5.17813293e-02] [-4.56271598e-02 -9.13355641e-05 9.98958535e-01 -5.33685342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.05, Z:-0.54 [[ 9.98766634e-01 2.03024541e-02 4.53102699e-02 6.46907821e+00] [-2.02788659e-02 9.99793882e-01 -9.80237233e-04 -5.20767752e-02] [-4.53208319e-02 6.01873563e-05 9.98972481e-01 -5.36258829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.05, Z:-0.54 [[ 9.98832585e-01 1.89265384e-02 4.44438297e-02 6.50181579e+00] [-1.89021003e-02 9.99820869e-01 -9.70087340e-04 -5.28800557e-02] [-4.44542288e-02 1.28873119e-04 9.99011414e-01 -5.38598954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.05, Z:-0.54 [[ 9.98876266e-01 1.78431442e-02 4.39070381e-02 6.53440277e+00] [-1.78178737e-02 9.99840782e-01 -9.66862875e-04 -5.36638009e-02] [-4.39172991e-02 1.83446320e-04 9.99035153e-01 -5.42706308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.06, Z:-0.54 [[ 9.98872653e-01 1.67913736e-02 4.44012669e-02 6.56653770e+00] [-1.67640844e-02 9.99858986e-01 -9.86917384e-04 -5.57801746e-02] [-4.44115774e-02 2.41458202e-04 9.99013290e-01 -5.42719811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.06, Z:-0.54 [[ 9.98926703e-01 1.48358862e-02 4.38786685e-02 6.59900536e+00] [-1.48070033e-02 9.99889887e-01 -9.83202226e-04 -5.93801905e-02] [-4.38884236e-02 3.32435369e-04 9.99036384e-01 -5.44748475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.06, Z:-0.55 [[ 9.98950312e-01 1.41364378e-02 4.35710411e-02 6.63080589e+00] [-1.41069158e-02 9.99900007e-01 -9.84974238e-04 -6.04016397e-02] [-4.35806084e-02 3.69287314e-04 9.99049846e-01 -5.49448845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.06, Z:-0.55 [[ 9.98958503e-01 1.34861997e-02 4.35893453e-02 6.66331692e+00] [-1.34556440e-02 9.99908974e-01 -9.94328134e-04 -6.19309014e-02] [-4.35987873e-02 4.06769831e-04 9.99049038e-01 -5.48093170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.06, Z:-0.55 [[ 9.98948451e-01 1.39355396e-02 4.36782998e-02 6.69662444e+00] [-1.39051072e-02 9.99902819e-01 -1.00049914e-03 -6.38473124e-02] [-4.36879976e-02 3.92095628e-04 9.99045147e-01 -5.49961912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262640000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.07, Z:-0.55 [[ 9.98936956e-01 1.49320417e-02 4.36118312e-02 6.72937904e+00] [-1.49022804e-02 9.99888447e-01 -1.00746238e-03 -6.57575790e-02] [-4.36220096e-02 3.56475668e-04 9.99048043e-01 -5.54653419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.07, Z:-0.56 [[ 9.98881705e-01 1.80892248e-02 4.36820160e-02 6.76213283e+00] [-1.80619300e-02 9.99836350e-01 -1.01948327e-03 -6.73705847e-02] [-4.36933091e-02 2.29361673e-04 9.99044965e-01 -5.55369574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.07, Z:-0.56 [[ 9.98845126e-01 1.98832573e-02 4.37386675e-02 6.79479500e+00] [-1.98575146e-02 9.99802297e-01 -1.02299893e-03 -6.79675028e-02] [-4.37503608e-02 1.53276264e-04 9.99042483e-01 -5.55431338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.07, Z:-0.56 [[ 9.98802740e-01 2.14968170e-02 4.39428347e-02 6.82701643e+00] [-2.14719929e-02 9.99768912e-01 -1.03689306e-03 -6.92516501e-02] [-4.39549700e-02 9.21113966e-05 9.99033509e-01 -5.57195435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.07, Z:-0.56 [[ 9.98778747e-01 2.38002918e-02 4.32961932e-02 6.86031415e+00] [-2.37780208e-02 9.99716733e-01 -1.02937791e-03 -7.11740895e-02] [-4.33084283e-02 -1.37700525e-06 9.99061750e-01 -5.59166223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.07, Z:-0.56 [[ 9.98792728e-01 2.48182004e-02 4.23927238e-02 6.89271431e+00] [-2.47974078e-02 9.99691980e-01 -1.01633620e-03 -7.17561240e-02] [-4.24048897e-02 -3.61204515e-05 9.99100507e-01 -5.61617570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.07, Z:-0.56 [[ 9.98836764e-01 2.54989228e-02 4.09258344e-02 6.92535405e+00] [-2.54798262e-02 9.99674848e-01 -9.88240741e-04 -7.18972119e-02] [-4.09377264e-02 -5.56919656e-05 9.99161698e-01 -5.64266364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.07, Z:-0.57 [[ 9.98834554e-01 2.55857145e-02 4.09255905e-02 6.95878646e+00] [-2.55662815e-02 9.99672631e-01 -9.98229717e-04 -7.28485350e-02] [-4.09377331e-02 -4.92488327e-05 9.99161698e-01 -5.66227846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.07, Z:-0.57 [[ 9.98881459e-01 2.58194561e-02 3.96129518e-02 6.99136645e+00] [-2.58013896e-02 9.99666621e-01 -9.67329430e-04 -7.33375751e-02] [-3.96247215e-02 -5.58217694e-05 9.99214631e-01 -5.69295385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.07, Z:-0.57 [[ 9.98927835e-01 2.58910825e-02 3.83775041e-02 7.02380545e+00] [-2.58738968e-02 9.99664769e-01 -9.44491639e-04 -7.49051898e-02] [-3.83890927e-02 -4.94965942e-05 9.99262866e-01 -5.71850500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.08, Z:-0.57 [[ 9.98913432e-01 2.61766632e-02 3.85582363e-02 7.05562331e+00] [-2.61592190e-02 9.99657331e-01 -9.56941695e-04 -7.64051548e-02] [-3.85700731e-02 -5.27514340e-05 9.99255896e-01 -5.73717855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.08, Z:-0.57 [[ 9.98889059e-01 2.63593543e-02 3.90618956e-02 7.08892849e+00] [-2.63413086e-02 9.99652530e-01 -9.76661122e-04 -7.74284484e-02] [-3.90740669e-02 -5.33653372e-05 9.99236316e-01 -5.74970923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.08, Z:-0.58 [[ 9.98812687e-01 2.63874622e-02 4.09501790e-02 7.12211217e+00] [-2.63672979e-02 9.99651789e-01 -1.03252518e-03 -7.86667619e-02] [-4.09631654e-02 -4.84463249e-05 9.99160656e-01 -5.75388087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.08, Z:-0.58 [[ 9.98784575e-01 2.63800710e-02 4.16348869e-02 7.15402024e+00] [-2.63588586e-02 9.99651985e-01 -1.05846176e-03 -7.91764768e-02] [-4.16483196e-02 -4.02728176e-05 9.99132332e-01 -5.76717108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.08, Z:-0.58 [[ 9.98738694e-01 2.64801667e-02 4.26593703e-02 7.18712653e+00] [-2.64576504e-02 9.99649338e-01 -1.09241917e-03 -7.91584058e-02] [-4.26733387e-02 -3.76254101e-05 9.99089077e-01 -5.78676500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.08, Z:-0.58 [[ 9.98698565e-01 2.66037479e-02 4.35134098e-02 7.21856535e+00] [-2.65800426e-02 9.99646057e-01 -1.12335958e-03 -7.92095891e-02] [-4.35278941e-02 -3.46906912e-05 9.99052211e-01 -5.81843554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.08, Z:-0.58 [[ 9.98653391e-01 2.77380711e-02 4.38406728e-02 7.25139162e+00] [-2.77147499e-02 9.99615223e-01 -1.13978955e-03 -8.19033047e-02] [-4.38554195e-02 -7.67785906e-05 9.99037885e-01 -5.81437545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.08, Z:-0.58 [[ 9.98613045e-01 2.90568643e-02 4.39054059e-02 7.28327379e+00] [-2.90343556e-02 9.99577752e-01 -1.15040066e-03 -8.39581714e-02] [-4.39202940e-02 -1.25960064e-04 9.99035030e-01 -5.82664572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.09, Z:-0.58 [[ 9.98537365e-01 3.05961341e-02 4.45758561e-02 7.31530267e+00] [-3.05740878e-02 9.99531811e-01 -1.17642770e-03 -8.50011082e-02] [-4.45909803e-02 -1.88159123e-04 9.99005310e-01 -5.84630979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.08, Z:-0.59 [[ 9.98428005e-01 3.42592914e-02 4.43601202e-02 7.34782192e+00] [-3.42407115e-02 9.99412920e-01 -1.17883243e-03 -8.21187735e-02] [-4.43744632e-02 -3.41942768e-04 9.99014910e-01 -5.86173723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.08, Z:-0.59 [[ 9.98389269e-01 3.65684639e-02 4.33775823e-02 7.38106809e+00] [-3.65525569e-02 9.99331059e-01 -1.16007522e-03 -8.19516055e-02] [-4.33909874e-02 -4.27354889e-04 9.99058076e-01 -5.88419431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.08, Z:-0.59 [[ 9.98332042e-01 3.87061647e-02 4.28365173e-02 7.41442753e+00] [-3.86922683e-02 9.99250508e-01 -1.15377138e-03 -8.22859023e-02] [-4.28490697e-02 -5.05595079e-04 9.99081429e-01 -5.90404045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.08, Z:-0.59 [[ 9.98146110e-01 4.32219856e-02 4.28509400e-02 7.44678708e+00] [-4.32118569e-02 9.99065255e-01 -1.16303541e-03 -7.96963914e-02] [-4.28611540e-02 -6.90789420e-04 9.99080800e-01 -5.92612354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.08, Z:-0.59 [[ 9.98074673e-01 4.55781956e-02 4.20663299e-02 7.47931602e+00] [-4.55702079e-02 9.98960477e-01 -1.14927419e-03 -7.87418973e-02] [-4.20749829e-02 -7.69909935e-04 9.99114159e-01 -5.94563727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.08, Z:-0.60 [[ 9.98014063e-01 4.74520837e-02 4.14274051e-02 7.51080502e+00] [-4.74456077e-02 9.98873172e-01 -1.14005939e-03 -7.85405421e-02] [-4.14348217e-02 -8.27753108e-04 9.99140866e-01 -5.96596248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.08, Z:-0.60 [[ 9.97913516e-01 4.97937604e-02 4.10998298e-02 7.54402989e+00] [-4.97890685e-02 9.98759106e-01 -1.13838120e-03 -7.63957663e-02] [-4.11055136e-02 -9.10316254e-04 9.99154397e-01 -5.98758103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.07, Z:-0.60 [[ 9.97897450e-01 5.03979128e-02 4.07520588e-02 7.57663490e+00] [-5.03934897e-02 9.98728794e-01 -1.13642966e-03 -7.42525756e-02] [-4.07575282e-02 -9.19598197e-04 9.99168644e-01 -6.00679179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.07, Z:-0.60 [[ 9.97901899e-01 5.05530667e-02 4.04498028e-02 7.60934031e+00] [-5.05485218e-02 9.98720961e-01 -1.13576424e-03 -7.24445305e-02] [-4.04554823e-02 -9.11296453e-04 9.99180926e-01 -6.04411795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.07, Z:-0.60 [[ 9.97925964e-01 4.98905281e-02 4.06780606e-02 7.64249585e+00] [-4.98850624e-02 9.98754303e-01 -1.15002189e-03 -7.21201625e-02] [-4.06847632e-02 -8.81590884e-04 9.99171643e-01 -6.04546049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.07, Z:-0.61 [[ 9.97969558e-01 4.74970185e-02 4.24357793e-02 7.67413479e+00] [-4.74885210e-02 9.98871052e-01 -1.20885135e-03 -6.87496335e-02] [-4.24452884e-02 -8.08815554e-04 9.99098465e-01 -6.08959006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.07, Z:-0.61 [[ 9.98048019e-01 4.58190375e-02 4.24354614e-02 7.70695681e+00] [-4.58086977e-02 9.98949490e-01 -1.21653337e-03 -6.73936337e-02] [-4.24466229e-02 -7.29754506e-04 9.99098469e-01 -6.07520556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.06, Z:-0.61 [[ 9.98192295e-01 4.21681704e-02 4.28250915e-02 7.73998605e+00] [-4.21539217e-02 9.99110364e-01 -1.23610458e-03 -6.46602709e-02] [-4.28391171e-02 -5.71375486e-04 9.99081820e-01 -6.09421031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.06, Z:-0.61 [[ 9.98227480e-01 4.08730421e-02 4.32584329e-02 7.77143369e+00] [-4.08568966e-02 9.99164217e-01 -1.25765486e-03 -6.32084473e-02] [-4.32736824e-02 -5.11979677e-04 9.99063124e-01 -6.13686823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.06, Z:-0.61 [[ 9.98274542e-01 3.94857783e-02 4.34604689e-02 7.80485669e+00] [-3.94678146e-02 9.99220033e-01 -1.27164132e-03 -6.19650049e-02] [-4.34767829e-02 -4.45842572e-04 9.99054338e-01 -6.12921853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.06, Z:-0.61 [[ 9.98304002e-01 3.83402680e-02 4.38080273e-02 7.83676082e+00] [-3.83205201e-02 9.99264665e-01 -1.29078082e-03 -6.06014304e-02] [-4.38253026e-02 -3.90154734e-04 9.99039134e-01 -6.14910862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.06, Z:-0.62 [[ 9.98424939e-01 3.60013514e-02 4.30295755e-02 7.86853086e+00] [-3.59797925e-02 9.99351704e-01 -1.27562715e-03 -5.89770570e-02] [-4.30476039e-02 -2.74577240e-04 9.99072985e-01 -6.16600910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.06, Z:-0.62 [[ 9.98483920e-01 3.48386082e-02 4.26160993e-02 7.90124257e+00] [-3.48160898e-02 9.99392928e-01 -1.27071521e-03 -5.87779467e-02] [-4.26344982e-02 -2.14937239e-04 9.99090713e-01 -6.18730298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.06, Z:-0.62 [[ 9.98520665e-01 3.39242688e-02 4.24926561e-02 7.93367210e+00] [-3.39006472e-02 9.99424393e-01 -1.27657314e-03 -5.84859639e-02] [-4.25115038e-02 -1.65843882e-04 9.99095964e-01 -6.20362043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.06, Z:-0.62 [[ 9.98548988e-01 3.31898963e-02 4.24069446e-02 7.96638874e+00] [-3.31655326e-02 9.99449055e-01 -1.27812707e-03 -5.86553720e-02] [-4.24260016e-02 -1.30176416e-04 9.99099603e-01 -6.22542395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.06, Z:-0.62 [[ 9.98620032e-01 3.20425439e-02 4.16089825e-02 7.99824834e+00] [-3.20177639e-02 9.99486503e-01 -1.26198113e-03 -5.78589391e-02] [-4.16280535e-02 -7.19869395e-05 9.99133174e-01 -6.24004752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.06, Z:-0.63 [[ 9.98603312e-01 3.20235328e-02 4.20228256e-02 8.03145889e+00] [-3.19979326e-02 9.99487113e-01 -1.28184659e-03 -5.67637597e-02] [-4.20423219e-02 -6.45872921e-05 9.99115829e-01 -6.25888570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.06, Z:-0.63 [[ 9.98582408e-01 3.27728595e-02 4.19417879e-02 8.06407712e+00] [-3.27476861e-02 9.99462822e-01 -1.28729179e-03 -5.56204842e-02] [-4.19614460e-02 -8.80295692e-05 9.99119227e-01 -6.28133062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.06, Z:-0.63 [[ 9.98567758e-01 3.31972137e-02 4.19568651e-02 8.09553120e+00] [-3.31720456e-02 9.99448816e-01 -1.29610912e-03 -5.67539320e-02] [-4.19767663e-02 -9.75422677e-05 9.99118582e-01 -6.30267142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.06, Z:-0.63 [[ 9.98552597e-01 3.38205065e-02 4.18196692e-02 8.12749324e+00] [-3.37956905e-02 9.99427916e-01 -1.30043746e-03 -5.69345727e-02] [-4.18397263e-02 -1.14769387e-04 9.99124329e-01 -6.31739488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.06, Z:-0.63 [[ 9.98511536e-01 3.49101576e-02 4.19045851e-02 8.16094314e+00] [-3.48860384e-02 9.99390442e-01 -1.30692321e-03 -5.59674560e-02] [-4.19246667e-02 -1.56907062e-04 9.99120762e-01 -6.33004017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.05, Z:-0.63 [[ 9.98478665e-01 3.55039903e-02 4.21879359e-02 8.19377498e+00] [-3.54797329e-02 9.99369519e-01 -1.32382366e-03 -5.41177500e-02] [-4.22083382e-02 -1.75007015e-04 9.99108816e-01 -6.34932599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.05, Z:-0.64 [[ 9.98419710e-01 3.57656279e-02 4.33463052e-02 8.22674000e+00] [-3.57398823e-02 9.99360189e-01 -1.36901557e-03 -5.17961473e-02] [-4.33675355e-02 -1.82339714e-04 9.99059169e-01 -6.36917743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.05, Z:-0.64 [[ 9.98431679e-01 3.51771220e-02 4.35517269e-02 8.25867627e+00] [-3.51501751e-02 9.99381083e-01 -1.38460460e-03 -5.24833043e-02] [-4.35734784e-02 -1.48417734e-04 9.99050214e-01 -6.38710144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.05, Z:-0.64 [[ 9.98478701e-01 3.41049024e-02 4.33259766e-02 8.29046604e+00] [-3.40768730e-02 9.99418254e-01 -1.38554560e-03 -5.35041370e-02] [-4.33480258e-02 -9.29760354e-05 9.99060028e-01 -6.40884808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.05, Z:-0.65 [[ 9.98613552e-01 3.09513117e-02 4.25792303e-02 8.32208310e+00] [-3.09210435e-02 9.99520892e-01 -1.36943751e-03 -5.49436607e-02] [-4.26012162e-02 5.09446190e-05 9.99092155e-01 -6.45183140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.06, Z:-0.65 [[ 9.98680303e-01 2.89208905e-02 4.24409467e-02 8.35499596e+00] [-2.88886736e-02 9.99581693e-01 -1.37233994e-03 -5.71428766e-02] [-4.24628826e-02 1.44466208e-04 9.99098035e-01 -6.45938172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.06, Z:-0.65 [[ 9.98724190e-01 2.66760653e-02 4.28763400e-02 8.38696386e+00] [-2.66407320e-02 9.99644099e-01 -1.39535732e-03 -5.95697906e-02] [-4.28983029e-02 2.51320024e-04 9.99079412e-01 -6.47969736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.06, Z:-0.65 [[ 9.98837393e-01 2.14846818e-02 4.31540426e-02 8.41933077e+00] [-2.14437022e-02 9.99769060e-01 -1.41234874e-03 -6.38351666e-02] [-4.31744205e-02 4.85324290e-04 9.99067432e-01 -6.49517560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.07, Z:-0.65 [[ 9.98892190e-01 1.89791970e-02 4.30602341e-02 8.45198713e+00] [-1.89357044e-02 9.99819698e-01 -1.41773027e-03 -6.77318055e-02] [-4.30793777e-02 6.00783834e-04 9.99071472e-01 -6.51325960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.08, Z:-0.66 [[ 9.99004814e-01 1.46929987e-02 4.21129062e-02 8.48429305e+00] [-1.46472590e-02 9.99891751e-01 -1.39448729e-03 -7.57785318e-02] [-4.21288367e-02 7.76260877e-04 9.99111885e-01 -6.56914760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.08, Z:-0.66 [[ 9.99055883e-01 1.32142623e-02 4.13851031e-02 8.51758892e+00] [-1.31684960e-02 9.99912342e-01 -1.37828561e-03 -8.04056006e-02] [-4.13996884e-02 8.32004784e-04 9.99142319e-01 -6.55340345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.08, Z:-0.66 [[ 9.99069305e-01 1.28094644e-02 4.11878896e-02 8.54934680e+00] [-1.27634482e-02 9.99917592e-01 -1.38000404e-03 -8.49728455e-02] [-4.12021725e-02 8.53020183e-04 9.99150466e-01 -6.57009343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.09, Z:-0.66 [[ 9.99064518e-01 1.42743375e-02 4.08207228e-02 8.58173149e+00] [-1.42300668e-02 9.99897802e-01 -1.37488503e-03 -9.20651564e-02] [-4.08361765e-02 7.92717241e-04 9.99165541e-01 -6.58168511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.10, Z:-0.66 [[ 9.99032784e-01 1.60961504e-02 4.09195567e-02 8.61388263e+00] [-1.60528111e-02 9.99870183e-01 -1.38751052e-03 -9.67732456e-02] [-4.09365783e-02 7.29294582e-04 9.99161481e-01 -6.59747153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.10, Z:-0.66 [[ 9.99013508e-01 1.83394228e-02 4.04434914e-02 8.64705103e+00] [-1.82987886e-02 9.99831618e-01 -1.37470440e-03 -1.01977232e-01] [-4.04618927e-02 6.33281372e-04 9.99180882e-01 -6.61428324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.11, Z:-0.66 [[ 9.98956158e-01 2.11958292e-02 4.04639514e-02 8.67860507e+00] [-2.11571063e-02 9.99775204e-01 -1.38500597e-03 -1.06654512e-01] [-4.04842116e-02 5.27460118e-04 9.99180039e-01 -6.63253385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.11, Z:-0.66 [[ 9.98869634e-01 2.46986706e-02 4.06131673e-02 8.71130962e+00] [-2.46623969e-02 9.99694865e-01 -1.39399972e-03 -1.10836428e-01] [-4.06352047e-02 3.90805933e-04 9.99173973e-01 -6.64772480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.12, Z:-0.67 [[ 9.98636696e-01 3.29727345e-02 4.04666310e-02 8.74274815e+00] [-3.29431771e-02 9.99456250e-01 -1.39720025e-03 -1.15831968e-01] [-4.04906968e-02 6.21960490e-05 9.99179914e-01 -6.66163685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.12, Z:-0.67 [[ 9.98479512e-01 3.78938595e-02 4.00339856e-02 8.77573585e+00] [-3.78685993e-02 9.99281761e-01 -1.38937459e-03 -1.18526056e-01] [-4.00578804e-02 -1.28768891e-04 9.99197353e-01 -6.68221807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.12, Z:-0.67 [[ 9.98043642e-01 4.78567512e-02 4.02320780e-02 8.80877940e+00] [-4.78390109e-02 9.98854072e-01 -1.40410694e-03 -1.22595762e-01] [-4.02531709e-02 -5.23302817e-04 9.99189376e-01 -6.70395632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.13, Z:-0.67 [[ 9.97788756e-01 5.27294031e-02 4.04624307e-02 8.84178021e+00] [-5.27151395e-02 9.98608581e-01 -1.42010657e-03 -1.25426275e-01] [-4.04810119e-02 -7.16016309e-04 9.99180051e-01 -6.72585942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.13, Z:-0.67 [[ 9.97550299e-01 5.72889427e-02 4.01419717e-02 8.87391677e+00] [-5.72782631e-02 9.98357247e-01 -1.41703724e-03 -1.27652300e-01] [-4.01572089e-02 -8.85696491e-04 9.99192981e-01 -6.74489196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.13, Z:-0.68 [[ 9.97322550e-01 6.14836186e-02 3.95916227e-02 8.90547040e+00] [-6.14762439e-02 9.98107558e-01 -1.40484665e-03 -1.29966508e-01] [-3.96030729e-02 -1.03285901e-03 9.99214957e-01 -6.76509832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.13, Z:-0.68 [[ 9.96937950e-01 6.78070316e-02 3.89477874e-02 8.93813890e+00] [-6.78044477e-02 9.97697664e-01 -1.38877948e-03 -1.31612570e-01] [-3.89522855e-02 -1.25630624e-03 9.99240282e-01 -6.82324657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.13, Z:-0.68 [[ 9.96814292e-01 6.98040814e-02 3.85831294e-02 8.97142502e+00] [-6.98027657e-02 9.97559854e-01 -1.38285365e-03 -1.32419313e-01] [-3.85855097e-02 -1.31476086e-03 9.99254437e-01 -6.80613170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.13, Z:-0.68 [[ 9.96808383e-01 6.98885969e-02 3.85827838e-02 9.00484534e+00] [-6.98869745e-02 9.97553944e-01 -1.39242025e-03 -1.33759565e-01] [-3.85857224e-02 -1.30845784e-03 9.99254437e-01 -6.82574570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.13, Z:-0.68 [[ 9.96725209e-01 7.12203721e-02 3.82951244e-02 9.03763197e+00] [-7.12197153e-02 9.97459693e-01 -1.38307215e-03 -1.34420652e-01] [-3.82963460e-02 -1.34882498e-03 9.99265516e-01 -6.84875174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422640000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.14, Z:-0.69 [[ 9.96671046e-01 7.19475923e-02 3.83454080e-02 9.06891576e+00] [-7.19471780e-02 9.97407472e-01 -1.39252588e-03 -1.35237456e-01] [-3.83461853e-02 -1.37095367e-03 9.99263574e-01 -6.89972455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.14, Z:-0.69 [[ 9.96740620e-01 7.09643807e-02 3.83691740e-02 9.10173475e+00] [-7.09629836e-02 9.97477967e-01 -1.40003020e-03 -1.36831358e-01] [-3.83717580e-02 -1.32732410e-03 9.99262651e-01 -6.88015780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.14, Z:-0.69 [[ 9.96771068e-01 6.98787229e-02 3.95525312e-02 9.13477594e+00] [-6.98760777e-02 9.97554624e-01 -1.45099642e-03 -1.37732515e-01] [-3.95572042e-02 -1.31746449e-03 9.99216439e-01 -6.89742394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.14, Z:-0.69 [[ 9.96915968e-01 6.66437990e-02 4.14385974e-02 9.16719197e+00] [-6.66377116e-02 9.97776065e-01 -1.52970482e-03 -1.36926360e-01] [-4.14483860e-02 -1.23638614e-03 9.99139881e-01 -6.90284392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.14, Z:-0.69 [[ 9.97027363e-01 6.48153378e-02 4.16582419e-02 9.19971467e+00] [-6.48074348e-02 9.97896598e-01 -1.54157436e-03 -1.37029745e-01] [-4.16705355e-02 -1.16277198e-03 9.99130729e-01 -6.91700605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.14, Z:-0.69 [[ 9.97118856e-01 6.32275423e-02 4.19078068e-02 9.23262652e+00] [-6.32178145e-02 9.97998536e-01 -1.55865532e-03 -1.37093914e-01] [-4.19224798e-02 -1.09515534e-03 9.99120266e-01 -6.93532210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.14, Z:-0.70 [[ 9.97238771e-01 6.01613175e-02 4.35367708e-02 9.26473753e+00] [-6.01475206e-02 9.98188171e-01 -1.62795728e-03 -1.35053066e-01] [-4.35558297e-02 -9.95166703e-04 9.99050499e-01 -6.95042842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.14, Z:-0.70 [[ 9.97309236e-01 5.86402837e-02 4.39954997e-02 9.29744697e+00] [-5.86243806e-02 9.98278744e-01 -1.65272683e-03 -1.35316839e-01] [-4.40166885e-02 -9.30929190e-04 9.99030362e-01 -6.96354817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.14, Z:-0.70 [[ 9.97352359e-01 5.75133182e-02 4.45026958e-02 9.32982496e+00] [-5.74955624e-02 9.98344348e-01 -1.67992911e-03 -1.35644239e-01] [-4.45256331e-02 -8.83226255e-04 9.99007852e-01 -7.00091143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.13, Z:-0.70 [[ 9.97527080e-01 5.46657344e-02 4.41744580e-02 9.36337636e+00] [-5.46450733e-02 9.98504435e-01 -1.67603220e-03 -1.34159159e-01] [-4.42000137e-02 -7.42028986e-04 9.99022426e-01 -6.99560882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.13, Z:-0.70 [[ 9.97613529e-01 5.37854388e-02 4.32940283e-02 9.39518124e+00] [-5.37643924e-02 9.98552284e-01 -1.65120742e-03 -1.34288112e-01] [-4.33201618e-02 -6.80410265e-04 9.99061009e-01 -7.01219730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.13, Z:-0.70 [[ 9.97658357e-01 5.31427043e-02 4.30540974e-02 9.42707354e+00] [-5.31209490e-02 9.98586722e-01 -1.65002168e-03 -1.34052882e-01] [-4.30809366e-02 -6.40916595e-04 9.99071380e-01 -7.03227540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.13, Z:-0.71 [[ 9.97696786e-01 5.26192708e-02 4.28057970e-02 9.46004324e+00] [-5.25969550e-02 9.98614462e-01 -1.64818453e-03 -1.30504981e-01] [-4.28332142e-02 -6.07066168e-04 9.99082052e-01 -7.05408966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.13, Z:-0.71 [[ 9.97729404e-01 5.26384418e-02 4.20146562e-02 9.49293319e+00] [-5.26166280e-02 9.98613463e-01 -1.62561703e-03 -1.29662237e-01] [-4.20419713e-02 -5.88743624e-04 9.99115672e-01 -7.07863547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.13, Z:-0.71 [[ 9.97757145e-01 5.26635169e-02 4.13186764e-02 9.52492093e+00] [-5.26420999e-02 9.98612150e-01 -1.60693782e-03 -1.29886992e-01] [-4.13459593e-02 -5.71768203e-04 9.99144727e-01 -7.12826374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.13, Z:-0.71 [[ 9.97805300e-01 5.22591774e-02 4.06640129e-02 9.55782048e+00] [-5.22378076e-02 9.98633410e-01 -1.58861053e-03 -1.31082450e-01] [-4.06914613e-02 -5.39074878e-04 9.99171614e-01 -7.12286588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.13, Z:-0.71 [[ 9.97798914e-01 5.18921972e-02 4.12859151e-02 9.58964110e+00] [-5.18694559e-02 9.98652556e-01 -1.62255109e-03 -1.27646605e-01] [-4.13144823e-02 -5.22498237e-04 9.99146056e-01 -7.13469027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.13, Z:-0.72 [[ 9.97803867e-01 5.17076259e-02 4.13976349e-02 9.62297282e+00] [-5.16844421e-02 9.98662135e-01 -1.63081461e-03 -1.26210321e-01] [-4.14265760e-02 -5.12380538e-04 9.99141420e-01 -7.15321812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.13, Z:-0.72 [[ 9.97835637e-01 5.10421702e-02 4.14576805e-02 9.65620639e+00] [-5.10180066e-02 9.98696385e-01 -1.64132971e-03 -1.25415799e-01] [-4.14874126e-02 -4.77310943e-04 9.99138913e-01 -7.17547026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.12, Z:-0.72 [[ 9.97875959e-01 4.99953788e-02 4.17616073e-02 9.68939087e+00] [-4.99695982e-02 9.98749357e-01 -1.66161396e-03 -1.24778439e-01] [-4.17924515e-02 -4.28726115e-04 9.99126222e-01 -7.19372590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.12, Z:-0.72 [[ 9.97973017e-01 4.72071209e-02 4.26772127e-02 9.72199597e+00] [-4.71772657e-02 9.98885074e-01 -1.70700603e-03 -1.22691173e-01] [-4.27102137e-02 -3.09848248e-04 9.99087454e-01 -7.20467387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.12, Z:-0.72 [[ 9.98045225e-01 4.55526411e-02 4.27865061e-02 9.75466149e+00] [-4.55207836e-02 9.98961913e-01 -1.71906535e-03 -1.23883340e-01] [-4.28203979e-02 -2.31970321e-04 9.99082759e-01 -7.22293002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.13, Z:-0.73 [[ 9.98213970e-01 4.19223256e-02 4.25604179e-02 9.78609864e+00] [-4.18871297e-02 9.99120871e-01 -1.71878915e-03 -1.25272795e-01] [-4.25950574e-02 -6.70144019e-05 9.99092416e-01 -7.25007185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.13, Z:-0.73 [[ 9.98307687e-01 4.03166958e-02 4.19085558e-02 9.81824453e+00] [-4.02807849e-02 9.99186951e-01 -1.70130285e-03 -1.26670820e-01] [-4.19430730e-02 1.03141894e-05 9.99120002e-01 -7.27117523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.13, Z:-0.73 [[ 9.98371535e-01 3.89017985e-02 4.17244401e-02 9.85072695e+00] [-3.88648055e-02 9.99243036e-01 -1.69770272e-03 -1.28177591e-01] [-4.17588999e-02 7.33258195e-05 9.99127714e-01 -7.28905513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.13, Z:-0.73 [[ 9.98384280e-01 3.73093528e-02 4.28583954e-02 9.88388661e+00] [-3.72684767e-02 9.99303752e-01 -1.75263107e-03 -1.30794939e-01] [-4.28939449e-02 1.52532200e-04 9.99079620e-01 -7.30170854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.13, Z:-0.73 [[ 9.98395806e-01 3.69341957e-02 4.29147857e-02 9.91681470e+00] [-3.68925015e-02 9.99317684e-01 -1.76340423e-03 -1.33592273e-01] [-4.29506342e-02 1.77341586e-04 9.99077180e-01 -7.32001822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.14, Z:-0.73 [[ 9.98426793e-01 3.66774122e-02 4.24111549e-02 9.94953224e+00] [-3.66360389e-02 9.99327138e-01 -1.75261721e-03 -1.36706029e-01] [-4.24468995e-02 1.96083263e-04 9.99098705e-01 -7.33868660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.14, Z:-0.74 [[ 9.98428324e-01 3.67723708e-02 4.22927330e-02 9.98235980e+00] [-3.67312361e-02 9.99323649e-01 -1.74955017e-03 -1.42024483e-01] [-4.23284634e-02 1.93336079e-04 9.99103730e-01 -7.35664685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.15, Z:-0.74 [[ 9.98382337e-01 3.75879368e-02 4.26597628e-02 1.00147530e+01] [-3.75464608e-02 9.99293310e-01 -1.77334516e-03 -1.45634788e-01] [-4.26962719e-02 1.68753372e-04 9.99088084e-01 -7.39830651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.15, Z:-0.74 [[ 9.98354154e-01 3.83478494e-02 4.26430060e-02 1.00469791e+01] [-3.83067258e-02 9.99264440e-01 -1.78138018e-03 -1.49504870e-01] [-4.26799516e-02 1.44934360e-04 9.99088785e-01 -7.39033731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.15, Z:-0.74 [[ 9.98317482e-01 3.92472382e-02 4.26832549e-02 1.00796280e+01] [-3.92065265e-02 9.99229524e-01 -1.79082660e-03 -1.53618343e-01] [-4.27206535e-02 1.14351336e-04 9.99087050e-01 -7.40940631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.16, Z:-0.74 [[ 9.98228641e-01 4.13011129e-02 4.28228729e-02 1.01126125e+01] [-4.12616584e-02 9.99146744e-01 -1.80518752e-03 -1.60651844e-01] [-4.28608903e-02 3.50471322e-05 9.99081049e-01 -7.42715117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412640000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.16, Z:-0.75 [[ 9.98169000e-01 4.29154407e-02 4.26252500e-02 1.01450549e+01] [-4.28774636e-02 9.99078708e-01 -1.80522458e-03 -1.64383309e-01] [-4.26634516e-02 -2.57433848e-05 9.99089500e-01 -7.46863783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.17, Z:-0.75 [[ 9.98126518e-01 4.41590444e-02 4.23489493e-02 1.01766319e+01] [-4.41223139e-02 9.99024511e-01 -1.80208096e-03 -1.67797219e-01] [-4.23872165e-02 -6.98288460e-05 9.99101256e-01 -7.48669832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.18, Z:-0.75 [[ 9.97980672e-01 4.71660031e-02 4.25434745e-02 1.02083663e+01] [-4.71313250e-02 9.98887047e-01 -1.81833249e-03 -1.75498277e-01] [-4.25818891e-02 -1.90469642e-04 9.99092962e-01 -7.47901826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.18, Z:-0.75 [[ 9.97862278e-01 4.94447233e-02 4.27328249e-02 1.02414095e+01] [-4.94114950e-02 9.98776822e-01 -1.83410889e-03 -1.80875890e-01] [-4.27712421e-02 -2.81304691e-04 9.99084852e-01 -7.49742869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.19, Z:-0.75 [[ 9.97694969e-01 5.24143494e-02 4.30985478e-02 1.02740326e+01] [-5.23829506e-02 9.98625342e-01 -1.85833068e-03 -1.85558043e-01] [-4.31367052e-02 -4.03581927e-04 9.99069098e-01 -7.54593696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.19, Z:-0.75 [[ 9.97535046e-01 5.52897495e-02 4.32073564e-02 1.03072085e+01] [-5.52605195e-02 9.98470216e-01 -1.87151675e-03 -1.89770406e-01] [-4.32447342e-02 -5.20757413e-04 9.99064373e-01 -7.52556693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.19, Z:-0.75 [[ 9.97094885e-01 6.20915461e-02 4.41183732e-02 1.03389250e+01] [-6.20673183e-02 9.98070118e-01 -1.92008809e-03 -1.94870992e-01] [-4.41524512e-02 -8.23799099e-04 9.99024465e-01 -7.54257677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.20, Z:-0.76 [[ 9.96863080e-01 6.59105843e-02 4.38154613e-02 1.03719633e+01] [-6.58900315e-02 9.97825054e-01 -1.91467951e-03 -1.97676367e-01] [-4.38463627e-02 -9.78328814e-04 9.99037807e-01 -7.55791893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.20, Z:-0.76 [[ 9.96356814e-01 7.34593572e-02 4.33223088e-02 1.04036036e+01] [-7.34460114e-02 9.97297381e-01 -1.90180556e-03 -1.98969736e-01] [-4.33449305e-02 -1.28697386e-03 9.99059338e-01 -7.57495186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682640000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.20, Z:-0.76 [[ 9.96052907e-01 7.73147511e-02 4.36008740e-02 1.04350113e+01] [-7.73045246e-02 9.97005673e-01 -1.92310311e-03 -1.99660234e-01] [-4.36190029e-02 -1.45503239e-03 9.99047179e-01 -7.62834521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.20, Z:-0.76 [[ 9.95799906e-01 8.04019720e-02 4.37957813e-02 1.04682322e+01] [-8.03944476e-02 9.96761248e-01 -1.93595379e-03 -2.01505778e-01] [-4.38095921e-02 -1.59311505e-03 9.99038629e-01 -7.62159793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.20, Z:-0.76 [[ 9.95445174e-01 8.45709887e-02 4.40074235e-02 1.05003813e+01] [-8.45670587e-02 9.96415874e-01 -1.95433192e-03 -2.01828343e-01] [-4.40149751e-02 -1.77614809e-03 9.99029292e-01 -7.64098154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.20, Z:-0.77 [[ 9.95328479e-01 8.60651532e-02 4.37493903e-02 1.05336960e+01] [-8.60623615e-02 9.96287842e-01 -1.95080407e-03 -2.00569332e-01] [-4.37548819e-02 -1.82348500e-03 9.99040632e-01 -7.66137527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.20, Z:-0.77 [[ 9.95244868e-01 8.71832308e-02 4.34365855e-02 1.05655632e+01] [-8.71811649e-02 9.96190574e-01 -1.94549707e-03 -1.98652517e-01] [-4.34407317e-02 -1.85060615e-03 9.99054292e-01 -7.68122218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.20, Z:-0.77 [[ 9.95225200e-01 8.77760997e-02 4.26867479e-02 1.05983393e+01] [-8.77743265e-02 9.96138536e-01 -1.91942184e-03 -1.95238134e-01] [-4.26903939e-02 -1.83654356e-03 9.99086662e-01 -7.70943899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.19, Z:-0.77 [[ 9.95300231e-01 8.72361625e-02 4.20392905e-02 1.06314418e+01] [-8.72336409e-02 9.96186072e-01 -1.89791669e-03 -1.94699931e-01] [-4.20445226e-02 -1.77824345e-03 9.99114156e-01 -7.73079748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.19, Z:-0.78 [[ 9.95460630e-01 8.55137104e-02 4.17796585e-02 1.06643903e+01] [-8.55093703e-02 9.96335566e-01 -1.89421109e-03 -1.93312443e-01] [-4.17885407e-02 -1.68693972e-03 9.99125053e-01 -7.75767571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922640000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.19, Z:-0.78 [[ 9.96010318e-01 7.89685347e-02 4.15622119e-02 1.06966450e+01] [-7.89582005e-02 9.96876131e-01 -1.89270324e-03 -1.90115685e-01] [-4.15818410e-02 -1.39652550e-03 9.99134125e-01 -7.81172115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.19, Z:-0.78 [[ 9.96354911e-01 7.43476576e-02 4.18248347e-02 1.07285669e+01] [-7.43328004e-02 9.97231657e-01 -1.91242762e-03 -1.89917175e-01] [-4.18512337e-02 -1.20350044e-03 9.99123128e-01 -7.79662341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.19, Z:-0.78 [[ 9.96711549e-01 6.94378255e-02 4.17669239e-02 1.07613630e+01] [-6.94183982e-02 9.97585791e-01 -1.91704002e-03 -1.89557830e-01] [-4.17992049e-02 -9.88657026e-04 9.99125542e-01 -7.81256985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.19, Z:-0.78 [[ 9.97070388e-01 6.43514405e-02 4.13465110e-02 1.07935476e+01] [-6.43276895e-02 9.97927009e-01 -1.90599502e-03 -1.88917065e-01] [-4.13834536e-02 -7.59314328e-04 9.99143049e-01 -7.83080597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.19, Z:-0.78 [[ 9.97685429e-01 5.44146219e-02 4.07778627e-02 1.08269332e+01] [-5.43828073e-02 9.98518372e-01 -1.88987884e-03 -1.87364077e-01] [-4.08202821e-02 -3.32110070e-04 9.99166450e-01 -7.84639816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.19, Z:-0.79 [[ 9.97889432e-01 5.01700250e-02 4.12268217e-02 1.08594500e+01] [-5.01338244e-02 9.98740679e-01 -1.91213591e-03 -1.88269671e-01] [-4.12708357e-02 -1.58758024e-04 9.99147983e-01 -7.86514530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102640000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.19, Z:-0.79 [[ 9.98042555e-01 4.64916559e-02 4.18280333e-02 1.08908033e+01] [-4.64507925e-02 9.98918678e-01 -1.94883250e-03 -1.89658752e-01] [-4.18734082e-02 2.07247723e-06 9.99122924e-01 -7.89824735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.19, Z:-0.79 [[ 9.98301845e-01 4.00291847e-02 4.23212811e-02 1.09225868e+01] [-3.99812039e-02 9.99198471e-01 -1.97986741e-03 -1.90553160e-01] [-4.23666119e-02 2.84449513e-04 9.99102092e-01 -7.89523153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.19, Z:-0.79 [[ 9.98384449e-01 3.79468938e-02 4.22909636e-02 1.09558359e+01] [-3.78967943e-02 9.99279685e-01 -1.98600308e-03 -1.91681125e-01] [-4.23358634e-02 3.80102645e-04 9.99103363e-01 -7.90729575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.19, Z:-0.80 [[ 9.98463510e-01 3.49357375e-02 4.30129376e-02 1.09882357e+01] [-3.48807520e-02 9.99389423e-01 -2.02842274e-03 -1.93260727e-01] [-4.30575394e-02 5.24982479e-04 9.99072456e-01 -7.95784153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.20, Z:-0.80 [[ 9.98489772e-01 3.38399182e-02 4.32785835e-02 1.10212368e+01] [-3.37828541e-02 9.99427095e-01 -2.04944209e-03 -1.95250172e-01] [-4.33231419e-02 5.84272895e-04 9.99060941e-01 -7.96389024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.20, Z:-0.80 [[ 9.98521601e-01 3.30875095e-02 4.31257361e-02 1.10535149e+01] [-3.30297684e-02 9.99452264e-01 -2.05095718e-03 -1.97799895e-01] [-4.31699757e-02 6.23491974e-04 9.99067547e-01 -7.95956753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.20, Z:-0.80 [[ 9.98517152e-01 3.32220250e-02 4.31253202e-02 1.10869234e+01] [-3.31640336e-02 9.99447800e-01 -2.05965965e-03 -1.99549659e-01] [-4.31699325e-02 6.26395919e-04 9.99067548e-01 -7.97918187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.20, Z:-0.80 [[ 9.98549992e-01 3.28951679e-02 4.26124650e-02 1.11199076e+01] [-3.28380523e-02 9.99458604e-01 -2.03981977e-03 -2.02764163e-01] [-4.26564950e-02 6.37551659e-04 9.99089594e-01 -7.99850249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.21, Z:-0.80 [[ 9.98550306e-01 3.30715730e-02 4.24683224e-02 1.11531110e+01] [-3.30146471e-02 9.99452783e-01 -2.04127926e-03 -2.08633901e-01] [-4.25125913e-02 6.36243354e-04 9.99095729e-01 -8.01897031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.21, Z:-0.81 [[ 9.98523794e-01 3.39367040e-02 4.24091145e-02 1.11846573e+01] [-3.38803540e-02 9.99423800e-01 -2.04696671e-03 -2.11931588e-01] [-4.24541457e-02 6.07109152e-04 9.99098232e-01 -8.05191841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.21, Z:-0.81 [[ 9.98511988e-01 3.48293983e-02 4.19609761e-02 1.12162574e+01] [-3.47747021e-02 9.99393109e-01 -2.03293046e-03 -2.14974392e-01] [-4.20063161e-02 5.70724996e-04 9.99117182e-01 -8.05127767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.22, Z:-0.81 [[ 9.98494897e-01 3.61468394e-02 4.12473772e-02 1.12493324e+01] [-3.60948172e-02 9.99346357e-01 -2.00549545e-03 -2.17488093e-01] [-4.12929084e-02 5.13660432e-04 9.99146952e-01 -8.06685326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46264 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.22, Z:-0.81 [[ 9.98343171e-01 3.96778819e-02 4.16722721e-02 1.12822500e+01] [-3.96275179e-02 9.99212451e-01 -2.03424878e-03 -2.23473773e-01] [-4.17201678e-02 3.79509672e-04 9.99129263e-01 -8.12630119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.23, Z:-0.81 [[ 9.98278723e-01 4.15172576e-02 4.14235321e-02 1.13141193e+01] [-4.14687197e-02 9.99137739e-01 -2.03068896e-03 -2.27758279e-01] [-4.14721228e-02 3.09412743e-04 9.99139614e-01 -8.10900276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.23, Z:-0.81 [[ 9.98050674e-01 4.66722860e-02 4.14312631e-02 1.13466694e+01] [-4.66278525e-02 9.98910250e-01 -2.03868350e-03 -2.32291054e-01] [-4.14812634e-02 1.02858612e-04 9.99139277e-01 -8.14731692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.24, Z:-0.81 [[ 9.97901070e-01 4.93345748e-02 4.19470303e-02 1.13785745e+01] [-4.92909639e-02 9.98782308e-01 -2.07392207e-03 -2.35394116e-01] [-4.19982678e-02 1.95949219e-06 9.99117684e-01 -8.13847673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.24, Z:-0.82 [[ 9.97747725e-01 5.20636916e-02 4.22948000e-02 1.14104675e+01] [-5.20215760e-02 9.98643760e-01 -2.09651501e-03 -2.39379896e-01] [-4.23465904e-02 -1.08449075e-04 9.99102975e-01 -8.15152624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.24, Z:-0.82 [[ 9.97445695e-01 5.73379765e-02 4.25962753e-02 1.14429899e+01] [-5.72998888e-02 9.98354770e-01 -2.11555925e-03 -2.44993962e-01] [-4.26474965e-02 -3.30606369e-04 9.99090127e-01 -8.17642765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.25, Z:-0.82 [[ 9.97290271e-01 5.99127430e-02 4.26916765e-02 1.14751553e+01] [-5.98764630e-02 9.98203524e-01 -2.12915383e-03 -2.47936086e-01] [-4.27425454e-02 -4.32842187e-04 9.99086026e-01 -8.19735223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.25, Z:-0.82 [[ 9.97053908e-01 6.32044152e-02 4.34592559e-02 1.15076441e+01] [-6.31695871e-02 9.98000436e-01 -2.17560778e-03 -2.53319365e-01] [-4.35098644e-02 -5.76105011e-04 9.99052831e-01 -8.21473111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.26, Z:-0.82 [[ 9.96956812e-01 6.42695498e-02 4.41196074e-02 1.15399483e+01] [-6.42342967e-02 9.97932381e-01 -2.21772700e-03 -2.56692092e-01] [-4.41709172e-02 -6.23013916e-04 9.99023794e-01 -8.22872625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.26, Z:-0.82 [[ 9.96882397e-01 6.53054258e-02 4.42796630e-02 1.15732164e+01] [-6.52705849e-02 9.97865102e-01 -2.23371539e-03 -2.58689218e-01] [-4.43310041e-02 -6.63407954e-04 9.99016678e-01 -8.24194936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.26, Z:-0.83 [[ 9.96830847e-01 6.62495266e-02 4.40370498e-02 1.16053914e+01] [-6.62155962e-02 9.97802846e-01 -2.23033383e-03 -2.59764591e-01] [-4.40880522e-02 -6.92673950e-04 9.99027409e-01 -8.26225093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.26, Z:-0.83 [[ 9.96743418e-01 6.85592093e-02 4.24522444e-02 1.16367588e+01] [-6.85294536e-02 9.97646761e-01 -2.15751272e-03 -2.62004831e-01] [-4.25002615e-02 -7.58742503e-04 9.99096168e-01 -8.31153789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.26, Z:-0.83 [[ 9.96668980e-01 6.96899735e-02 4.23586186e-02 1.16702187e+01] [-6.96610507e-02 9.97568379e-01 -2.16025874e-03 -2.63564398e-01] [-4.24061669e-02 -7.97683005e-04 9.99100135e-01 -8.31122980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.26, Z:-0.83 [[ 9.96566125e-01 7.12182101e-02 4.22365266e-02 1.17023872e+01] [-7.11904696e-02 9.97460396e-01 -2.16242964e-03 -2.63734508e-01] [-4.22832669e-02 -8.51834029e-04 9.99105300e-01 -8.32712141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.26, Z:-0.83 [[ 9.96435232e-01 7.29692271e-02 4.23357949e-02 1.17349415e+01] [-7.29426171e-02 9.97333768e-01 -2.17500580e-03 -2.62869203e-01] [-4.23816263e-02 -9.20831265e-04 9.99101071e-01 -8.34465495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.26, Z:-0.84 [[ 9.96146666e-01 7.66001872e-02 4.27110300e-02 1.17672073e+01] [-7.65760673e-02 9.97061309e-01 -2.20291458e-03 -2.61312620e-01] [-4.27542592e-02 -1.07621670e-03 9.99085039e-01 -8.36690152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.26, Z:-0.84 [[ 9.96038771e-01 7.79393470e-02 4.28044970e-02 1.18004654e+01] [-7.79160335e-02 9.96957464e-01 -2.21526896e-03 -2.61778040e-01] [-4.28469194e-02 -1.12866285e-03 9.99081012e-01 -8.38784384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.26, Z:-0.84 [[ 9.95998179e-01 7.84855755e-02 4.27509395e-02 1.18329486e+01] [-7.84624511e-02 9.96914595e-01 -2.22117783e-03 -2.61605392e-01] [-4.27933660e-02 -1.14205443e-03 9.99083292e-01 -8.40856514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.26, Z:-0.84 [[ 9.96159585e-01 7.61069309e-02 4.32875966e-02 1.18658737e+01] [-7.60806359e-02 9.97099114e-01 -2.25696718e-03 -2.58135988e-01] [-4.33337950e-02 -1.04504838e-03 9.99060103e-01 -8.42964388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.26, Z:-0.84 [[ 9.96319983e-01 7.36607979e-02 4.38244099e-02 1.18984496e+01] [-7.36310951e-02 9.97282909e-01 -2.29377711e-03 -2.58113837e-01] [-4.38742964e-02 -9.41503320e-04 9.99036616e-01 -8.44813774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.26, Z:-0.85 [[ 9.96514076e-01 7.05569787e-02 4.45130277e-02 1.19309654e+01] [-7.05228418e-02 9.97507423e-01 -2.33876306e-03 -2.58914481e-01] [-4.45670916e-02 -8.08574910e-04 9.99006066e-01 -8.46913888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.26, Z:-0.85 [[ 9.96995744e-01 6.33090295e-02 4.46256978e-02 1.19637731e+01] [-6.32670617e-02 9.97993857e-01 -2.35360501e-03 -2.59175774e-01] [-4.46851767e-02 -4.76802599e-04 9.99001005e-01 -8.48541600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.26, Z:-0.85 [[ 9.97202785e-01 5.99911812e-02 4.45832207e-02 1.19964503e+01] [-5.99455865e-02 9.98198856e-01 -2.36014007e-03 -2.60202852e-01] [-4.46445075e-02 -3.19029063e-04 9.99002886e-01 -8.50946593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.26, Z:-0.85 [[ 9.97480436e-01 5.54301428e-02 4.42750488e-02 1.20288548e+01] [-5.53802874e-02 9.98462562e-01 -2.35277431e-03 -2.58921192e-01] [-4.43373933e-02 -1.05118584e-04 9.99016609e-01 -8.52424057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.26, Z:-0.85 [[ 9.97539462e-01 5.46131726e-02 4.39593393e-02 1.20619840e+01] [-5.45628817e-02 9.98507585e-01 -2.34397297e-03 -2.58715415e-01] [-4.40217455e-02 -6.03426924e-05 9.99030571e-01 -8.54312050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.26, Z:-0.86 [[ 9.97569777e-01 5.42379661e-02 4.37353807e-02 1.20946996e+01] [-5.41874489e-02 9.98528038e-01 -2.34063623e-03 -2.59173528e-01] [-4.37979552e-02 -3.49607387e-05 9.99040409e-01 -8.56361944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.26, Z:-0.86 [[ 9.97586254e-01 5.34277135e-02 4.43525162e-02 1.21266749e+01] [-5.33745542e-02 9.98571720e-01 -2.38277609e-03 -2.59913642e-01] [-4.44164747e-02 9.72889396e-06 9.99013101e-01 -8.57916712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.26, Z:-0.86 [[ 9.97582567e-01 5.30097542e-02 4.49331420e-02 1.21593284e+01] [-5.29544009e-02 9.98593994e-01 -2.42215291e-03 -2.60768936e-01] [-4.49983635e-02 3.68899068e-05 9.98987060e-01 -8.59598989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.26, Z:-0.86 [[ 9.97593823e-01 5.25224727e-02 4.52543319e-02 1.21915441e+01] [-5.24653937e-02 9.98619740e-01 -2.44894432e-03 -2.61336449e-01] [-4.53204937e-02 6.87653915e-05 9.98972496e-01 -8.62829761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.26, Z:-0.86 [[ 9.97667906e-01 5.09898901e-02 4.53737866e-02 1.22236907e+01] [-5.09305280e-02 9.98699159e-01 -2.46413404e-03 -2.60850336e-01] [-4.54404084e-02 1.47476535e-04 9.98967040e-01 -8.63361770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.26, Z:-0.87 [[ 9.97768483e-01 4.77507562e-02 4.66681884e-02 1.22552529e+01] [-4.76839929e-02 9.98859233e-01 -2.54345394e-03 -2.59920325e-01] [-4.67364027e-02 3.12452614e-04 9.98907208e-01 -8.67484555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.26, Z:-0.87 [[ 9.97864929e-01 4.56173525e-02 4.67401402e-02 1.22886602e+01] [-4.55476488e-02 9.98958898e-01 -2.55580864e-03 -2.60862700e-01] [-4.68080681e-02 4.21448318e-04 9.98903813e-01 -8.67191669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.26, Z:-0.87 [[ 9.97920722e-01 4.37660162e-02 4.73156259e-02 1.23205842e+01] [-4.36920482e-02 9.99041671e-01 -2.59689544e-03 -2.62269930e-01] [-4.73839377e-02 5.24179166e-04 9.98876613e-01 -8.70581680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.26, Z:-0.87 [[ 9.97993267e-01 4.19026928e-02 4.74721384e-02 1.23538161e+01] [-4.18257202e-02 9.99121502e-01 -2.61404207e-03 -2.64390973e-01] [-4.75399696e-02 6.23240008e-04 9.98869142e-01 -8.72896827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.27, Z:-0.87 [[ 9.98145641e-01 3.80798795e-02 4.74889593e-02 1.23854230e+01] [-3.79980797e-02 9.99274366e-01 -2.62439611e-03 -2.68392243e-01] [-4.75544364e-02 8.15040283e-04 9.98868315e-01 -8.73180528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.27, Z:-0.88 [[ 9.98220158e-01 3.64172340e-02 4.72260720e-02 1.24185159e+01] [-3.63340820e-02 9.99336269e-01 -2.61825128e-03 -2.70975162e-01] [-4.72900761e-02 8.97675232e-04 9.98880795e-01 -8.75131435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.27, Z:-0.88 [[ 9.98367278e-01 3.23566500e-02 4.70725512e-02 1.24503783e+01] [-3.22690502e-02 9.99475785e-01 -2.61987612e-03 -2.73370264e-01] [-4.71326455e-02 1.09661207e-03 9.98888037e-01 -8.77623295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572640000000002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.28, Z:-0.88 [[ 9.98419891e-01 3.05724907e-02 4.71491624e-02 1.24816192e+01] [-3.04823741e-02 9.99531846e-01 -2.62930182e-03 -2.76963232e-01] [-4.72074737e-02 1.18792882e-03 9.98884399e-01 -8.82006422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.28, Z:-0.88 [[ 9.98494963e-01 2.87839291e-02 4.66829195e-02 1.25133257e+01] [-2.86932399e-02 9.99584852e-01 -2.61174757e-03 -2.80855878e-01] [-4.67387155e-02 1.26833258e-03 9.98906344e-01 -8.82167816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63264 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.29, Z:-0.89 [[ 9.98639792e-01 2.66406873e-02 4.48200914e-02 1.25453632e+01] [-2.65546096e-02 9.99644201e-01 -2.51491486e-03 -2.89768160e-01] [-4.48711435e-02 1.32131402e-03 9.98991909e-01 -8.86858896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662640000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.30, Z:-0.89 [[ 9.98671462e-01 2.62968795e-02 4.43146077e-02 1.25769469e+01] [-2.62119957e-02 9.99653292e-01 -2.49556751e-03 -2.95646625e-01] [-4.43648691e-02 1.33067775e-03 9.99014508e-01 -8.88694646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.30, Z:-0.89 [[ 9.98634391e-01 2.71644053e-02 4.46256429e-02 1.26096316e+01] [-2.70788158e-02 9.99630122e-01 -2.52144408e-03 -3.02649595e-01] [-4.46776303e-02 1.30959121e-03 9.99000598e-01 -8.90247100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.31, Z:-0.89 [[ 9.98557020e-01 2.93301906e-02 4.49846488e-02 1.26415168e+01] [-2.92450013e-02 9.99569019e-01 -2.55083527e-03 -3.06456005e-01] [-4.50400777e-02 1.23157835e-03 9.98984422e-01 -8.92021274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.31, Z:-0.89 [[ 9.98441232e-01 3.22479730e-02 4.55540831e-02 1.26748328e+01] [-3.21632646e-02 9.99479269e-01 -2.59144579e-03 -3.09595104e-01] [-4.56139305e-02 1.12223830e-03 9.98958513e-01 -8.91660099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.31, Z:-0.89 [[ 9.98282653e-01 3.64610731e-02 4.58512295e-02 1.27073061e+01] [-3.63792788e-02 9.99334627e-01 -2.61737649e-03 -3.12916066e-01] [-4.59161537e-02 9.44846885e-04 9.98944850e-01 -8.93782834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.32, Z:-0.89 [[ 9.98052336e-01 4.13782863e-02 4.66837537e-02 1.27406996e+01] [-4.12984288e-02 9.99143277e-01 -2.67423344e-03 -3.15561556e-01] [-4.67544139e-02 7.41059253e-04 9.98906140e-01 -8.94286672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.32, Z:-0.90 [[ 9.97520720e-01 5.18585234e-02 4.75721258e-02 1.27727507e+01] [-5.17870260e-02 9.98654406e-01 -2.73503584e-03 -3.18447230e-01] [-4.76499480e-02 2.64636001e-04 9.98864061e-01 -8.95742423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.32, Z:-0.90 [[ 9.97220674e-01 5.70558892e-02 4.79119284e-02 1.28043530e+01] [-5.69889212e-02 9.98370986e-01 -2.76369517e-03 -3.21438237e-01] [-4.79915643e-02 2.55648489e-05 9.98847741e-01 -8.97526866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.33, Z:-0.90 [[ 9.96652269e-01 6.62418574e-02 4.79194166e-02 1.28368727e+01] [-6.61850561e-02 9.97803513e-01 -2.77281565e-03 -3.25662359e-01] [-4.79978387e-02 -4.08016265e-04 9.98847356e-01 -9.00588789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932640000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.33, Z:-0.90 [[ 9.96419477e-01 7.00488311e-02 4.73432956e-02 1.28694327e+01] [-6.99972478e-02 9.97543398e-01 -2.74860313e-03 -3.27538817e-01] [-4.74195283e-02 -5.75138697e-04 9.98874896e-01 -9.02868161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.33, Z:-0.91 [[ 9.96246630e-01 7.32574293e-02 4.61085873e-02 1.29025604e+01] [-7.32115295e-02 9.97312819e-01 -2.68569976e-03 -3.28567208e-01] [-4.61814327e-02 -7.00060860e-04 9.98932823e-01 -9.05613407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992640000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.33, Z:-0.91 [[ 9.95996887e-01 7.74350729e-02 4.46543411e-02 1.29346498e+01] [-7.73958301e-02 9.96997029e-01 -2.60963988e-03 -3.27896878e-01] [-4.47223231e-02 -8.56866598e-04 9.98999089e-01 -9.10241321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.33, Z:-0.91 [[ 9.95884051e-01 7.85617446e-02 4.51996566e-02 1.29677756e+01] [-7.85223206e-02 9.96908834e-01 -2.64980871e-03 -3.29044327e-01] [-4.52681105e-02 -9.10279695e-04 9.98974459e-01 -9.10986563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.33, Z:-0.91 [[ 9.95815968e-01 7.87370432e-02 4.63792659e-02 1.30002389e+01] [-7.86952767e-02 9.96894984e-01 -2.72859710e-03 -3.29838987e-01] [-4.64500992e-02 -9.32648605e-04 9.98920176e-01 -9.12366209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.33, Z:-0.91 [[ 9.95828400e-01 7.79906804e-02 4.73629727e-02 1.30333960e+01] [-7.79458572e-02 9.96953675e-01 -2.79537196e-03 -3.31282787e-01] [-4.74367026e-02 -9.08036716e-04 9.98873833e-01 -9.14342269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.33, Z:-0.92 [[ 9.95894015e-01 7.66089615e-02 4.82304580e-02 1.30663119e+01] [-7.65604111e-02 9.97060854e-01 -2.85589968e-03 -3.33165623e-01] [-4.83074892e-02 -8.48370292e-04 9.98832151e-01 -9.16262212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.34, Z:-0.92 [[ 9.95887347e-01 7.66959961e-02 4.82298207e-02 1.30996935e+01] [-7.66470287e-02 9.97054169e-01 -2.86662022e-03 -3.35280665e-01] [-4.83076021e-02 -8.41841641e-04 9.98832152e-01 -9.18223508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.34, Z:-0.92 [[ 9.96026178e-01 7.46504775e-02 4.85711773e-02 1.31318976e+01] [-7.45982231e-02 9.97209482e-01 -2.89021348e-03 -3.37852918e-01] [-4.86513944e-02 -7.44595240e-04 9.98815542e-01 -9.20007537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.34, Z:-0.92 [[ 9.96449628e-01 6.87165328e-02 4.86433636e-02 1.31648664e+01] [-6.86565665e-02 9.97636126e-01 -2.90451581e-03 -3.40242005e-01] [-4.87279650e-02 -4.45482629e-04 9.98811988e-01 -9.22187735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.34, Z:-0.93 [[ 9.96637924e-01 6.58167447e-02 4.87955295e-02 1.31973136e+01] [-6.57527740e-02 9.97831682e-01 -2.91675965e-03 -3.42096557e-01] [-4.88816969e-02 -3.01488142e-04 9.98804530e-01 -9.25636430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.34, Z:-0.93 [[ 9.96831788e-01 6.27237362e-02 4.89092938e-02 1.32300484e+01] [-6.26552685e-02 9.98030918e-01 -2.93328085e-03 -3.43809365e-01] [-4.89969737e-02 -1.40437338e-04 9.98798917e-01 -9.26126374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.35, Z:-0.93 [[ 9.97160783e-01 5.72064773e-02 4.89672471e-02 1.32627658e+01] [-5.71307208e-02 9.98362359e-01 -2.94644417e-03 -3.47080732e-01] [-4.90556120e-02 1.40544452e-04 9.98796039e-01 -9.28432454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.35, Z:-0.93 [[ 9.97266620e-01 5.53043726e-02 4.89970832e-02 1.32957728e+01] [-5.52257491e-02 9.98469512e-01 -2.95800815e-03 -3.49381414e-01] [-4.90856845e-02 2.44022165e-04 9.98794541e-01 -9.30118380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.35, Z:-0.93 [[ 9.97382589e-01 5.37651751e-02 4.83453856e-02 1.33288033e+01] [-5.36863701e-02 9.98553554e-01 -2.92801061e-03 -3.52307113e-01] [-4.84328816e-02 3.24858537e-04 9.98826387e-01 -9.32082458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.36, Z:-0.93 [[ 9.97392983e-01 5.38342969e-02 4.80531483e-02 1.33613507e+01] [-5.37560680e-02 9.98549829e-01 -2.91974273e-03 -3.55689035e-01] [-4.81406453e-02 3.28982603e-04 9.98840513e-01 -9.33567346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.36, Z:-0.94 [[ 9.97350393e-01 5.43936812e-02 4.83065348e-02 1.33934972e+01] [-5.43148079e-02 9.98519519e-01 -2.94488859e-03 -3.59439198e-01] [-4.83952012e-02 3.13325632e-04 9.98828217e-01 -9.35164850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.36, Z:-0.94 [[ 9.97272952e-01 5.53987323e-02 4.87610456e-02 1.34261312e+01] [-5.53191269e-02 9.98464273e-01 -2.98160005e-03 -3.63510026e-01] [-4.88513388e-02 2.76050608e-04 9.98806022e-01 -9.36669298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.37, Z:-0.94 [[ 9.97076822e-01 5.79115159e-02 4.98404127e-02 1.34579686e+01] [-5.78309736e-02 9.98321706e-01 -3.05775900e-03 -3.67331328e-01] [-4.99338453e-02 1.66501032e-04 9.98752514e-01 -9.37790519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.37, Z:-0.94 [[ 9.96983029e-01 5.95550707e-02 4.97798475e-02 1.34907201e+01] [-5.94763245e-02 9.98225017e-01 -3.06299273e-03 -3.69753433e-01] [-4.98739059e-02 9.30294096e-05 9.98755518e-01 -9.39178856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.37, Z:-0.94 [[ 9.96877043e-01 6.15577026e-02 4.94652475e-02 1.35232569e+01] [-6.14819298e-02 9.98103526e-01 -3.05336756e-03 -3.72037343e-01] [-4.95593962e-02 2.61315122e-06 9.98771178e-01 -9.42830803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.37, Z:-0.94 [[ 9.96585902e-01 6.63958519e-02 4.90726997e-02 1.35553347e+01] [-6.63266565e-02 9.97793335e-01 -3.03891338e-03 -3.73604386e-01] [-4.91661840e-02 -2.26289866e-04 9.98790586e-01 -9.43898934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.38, Z:-0.95 [[ 9.96434829e-01 6.87739411e-02 4.88648837e-02 1.35870213e+01] [-6.87077168e-02 9.97632214e-01 -3.03566034e-03 -3.75753233e-01] [-4.89579564e-02 -3.32556895e-04 9.98800785e-01 -9.46260359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.38, Z:-0.95 [[ 9.96305425e-01 7.08049734e-02 4.86020182e-02 1.36195408e+01] [-7.07416209e-02 9.97490088e-01 -3.02453326e-03 -3.78315863e-01] [-4.86941834e-02 -4.24826648e-04 9.98813644e-01 -9.48166106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.38, Z:-0.95 [[ 9.96099179e-01 7.42287688e-02 4.77128484e-02 1.36519037e+01] [-7.41711854e-02 9.97241076e-01 -2.97865984e-03 -3.80019098e-01] [-4.78023145e-02 -5.71877908e-04 9.98856652e-01 -9.50409677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.38, Z:-0.95 [[ 9.95982131e-01 7.59939727e-02 4.73762749e-02 1.36852109e+01] [-7.59387811e-02 9.97108070e-01 -2.96634546e-03 -3.81459740e-01] [-4.74646903e-02 -6.43269494e-04 9.98872709e-01 -9.52375671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.38, Z:-0.95 [[ 9.95783211e-01 7.84774371e-02 4.75088333e-02 1.37177731e+01] [-7.84243315e-02 9.96915604e-01 -2.98363516e-03 -3.81719047e-01] [-4.75964453e-02 -7.54794695e-04 9.98866362e-01 -9.54199896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.38, Z:-0.96 [[ 9.95717317e-01 7.92443563e-02 4.76167713e-02 1.37508411e+01] [-7.91914380e-02 9.96854913e-01 -2.99977939e-03 -3.82913768e-01] [-4.77047280e-02 -7.83908300e-04 9.98861174e-01 -9.56181581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.38, Z:-0.96 [[ 9.95715421e-01 7.93161633e-02 4.75367953e-02 1.37831872e+01] [-7.92630564e-02 9.96849208e-01 -3.00413605e-03 -3.84183574e-01] [-4.76252933e-02 -7.76647092e-04 9.98864970e-01 -9.58170329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.39, Z:-0.96 [[ 9.95824085e-01 7.81038508e-02 4.72671218e-02 1.38153466e+01] [-7.80495752e-02 9.96944978e-01 -2.99563611e-03 -3.87426116e-01] [-4.73566905e-02 -7.06052193e-04 9.98877793e-01 -9.60973607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.39, Z:-0.96 [[ 9.95926198e-01 7.69811651e-02 4.69564500e-02 1.38481068e+01] [-7.69259650e-02 9.97032342e-01 -2.98420123e-03 -3.90963952e-01] [-4.70468266e-02 -6.40126047e-04 9.98892480e-01 -9.63035027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.39, Z:-0.97 [[ 9.96037921e-01 7.57005257e-02 4.66678685e-02 1.38809819e+01] [-7.56441893e-02 9.97130437e-01 -2.97457834e-03 -3.94310497e-01] [-4.67591293e-02 -5.67360256e-04 9.98906033e-01 -9.65137658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.40, Z:-0.97 [[ 9.96141106e-01 7.43447842e-02 4.66449359e-02 1.39130694e+01] [-7.42865789e-02 9.97232475e-01 -2.98249499e-03 -3.97282340e-01] [-4.67375778e-02 -4.94106851e-04 9.98907080e-01 -9.67475673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.40, Z:-0.97 [[ 9.96318285e-01 7.19695413e-02 4.65860420e-02 1.39444602e+01] [-7.19084857e-02 9.97406760e-01 -2.98732888e-03 -4.01537862e-01] [-4.66802299e-02 -3.73601344e-04 9.98909814e-01 -9.69305603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.41, Z:-0.97 [[ 9.96353270e-01 7.14937655e-02 4.65704170e-02 1.39774664e+01] [-7.14318401e-02 9.97440988e-01 -2.99470582e-03 -4.05208303e-01] [-4.66653456e-02 -3.42825647e-04 9.98910521e-01 -9.71067941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.41, Z:-0.97 [[ 9.96234130e-01 7.21427469e-02 4.80934767e-02 1.40095331e+01] [-7.20769926e-02 9.97394246e-01 -3.10230662e-03 -4.10168553e-01] [-4.81919659e-02 -3.75809425e-04 9.98838022e-01 -9.72482209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.41, Z:-0.97 [[ 9.96093880e-01 7.35275678e-02 4.88945760e-02 1.40422104e+01] [-7.34608430e-02 9.97293087e-01 -3.16270294e-03 -4.13674291e-01] [-4.89947685e-02 -4.41487724e-04 9.98798938e-01 -9.73379662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.42, Z:-0.98 [[ 9.95927111e-01 7.53737031e-02 4.94772066e-02 1.40739188e+01] [-7.53071577e-02 9.97155216e-01 -3.21039158e-03 -4.16697078e-01] [-4.95784338e-02 -5.28671790e-04 9.98770093e-01 -9.75038289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.42, Z:-0.98 [[ 9.95641717e-01 7.92715508e-02 4.91283225e-02 1.41059712e+01] [-7.92102372e-02 9.96852807e-01 -3.19675870e-03 -4.19964482e-01] [-4.92271182e-02 -7.08639756e-04 9.98787359e-01 -9.76390369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.42, Z:-0.98 [[ 9.95451522e-01 8.16774392e-02 4.90414483e-02 1.41380032e+01] [-8.16188352e-02 9.96658481e-01 -3.19971643e-03 -4.22047987e-01] [-4.91389201e-02 -8.17543306e-04 9.98791619e-01 -9.78357365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.42, Z:-0.98 [[ 9.95238696e-01 8.44018854e-02 4.87469010e-02 1.41707437e+01] [-8.43468504e-02 9.96431353e-01 -3.18862135e-03 -4.24251097e-01] [-4.88420662e-02 -9.38208217e-04 9.98806073e-01 -9.80421853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.43, Z:-0.98 [[ 9.95008229e-01 8.72123819e-02 4.85038645e-02 1.42040028e+01] [-8.71607897e-02 9.96189175e-01 -3.18176279e-03 -4.26549869e-01] [-4.85965139e-02 -1.06175497e-03 9.98817927e-01 -9.82627799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.19264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.43, Z:-0.99 [[ 9.94610428e-01 9.20352350e-02 4.77452882e-02 1.42369988e+01] [-9.19903543e-02 9.95754944e-01 -3.14113939e-03 -4.28598683e-01] [-4.78317022e-02 -1.26789598e-03 9.98854604e-01 -9.86676623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.43, Z:-0.99 [[ 9.94392755e-01 9.44339182e-02 4.75949910e-02 1.42700137e+01] [-9.43916289e-02 9.95530190e-01 -3.14034141e-03 -4.29590906e-01] [-4.76788052e-02 -1.36983598e-03 9.98861780e-01 -9.86758976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.43, Z:-0.99 [[ 9.94016526e-01 9.79832330e-02 4.82745586e-02 1.43019033e+01] [-9.79434265e-02 9.95186855e-01 -3.19507671e-03 -4.28222259e-01] [-4.83552701e-02 -1.55221663e-03 9.98828994e-01 -9.89204622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.43, Z:-0.99 [[ 9.93869051e-01 9.94175166e-02 4.83783819e-02 1.43344620e+01] [-9.93788052e-02 9.95044493e-01 -3.21080766e-03 -4.28745238e-01] [-4.84578530e-02 -1.61666343e-03 9.98823920e-01 -9.91056772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.43, Z:-0.99 [[ 9.93717014e-01 1.00804979e-01 4.86297432e-02 1.43660796e+01] [-1.00767052e-01 9.94904780e-01 -3.23714684e-03 -4.29588509e-01] [-4.87082845e-02 -1.68346798e-03 9.98811628e-01 -9.93119197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.43, Z:-1.00 [[ 9.93619258e-01 1.01935024e-01 4.82702874e-02 1.43993052e+01] [-1.01898576e-01 9.94789576e-01 -3.22168735e-03 -4.28940717e-01] [-4.83471815e-02 -1.71754295e-03 9.98829115e-01 -9.96722603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.43, Z:-1.00 [[ 9.93659164e-01 1.01840761e-01 4.76437411e-02 1.44310174e+01] [-1.01804690e-01 9.94799293e-01 -3.18938882e-03 -4.29850322e-01] [-4.77207697e-02 -1.68119086e-03 9.98859300e-01 -9.97860886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.43, Z:-1.00 [[ 9.93959940e-01 9.92155756e-02 4.69031675e-02 1.44637596e+01] [-9.91772985e-02 9.95064798e-01 -3.14829416e-03 -4.30435068e-01] [-4.69840507e-02 -1.52245117e-03 9.98894479e-01 -1.00046374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.43, Z:-1.00 [[ 9.94186783e-01 9.69899137e-02 4.67503737e-02 1.44961273e+01] [-9.69489879e-02 9.95284375e-01 -3.14742636e-03 -4.31778713e-01] [-4.68351851e-02 -1.40327173e-03 9.98901645e-01 -1.00221411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.43, Z:-1.00 [[ 9.94405410e-01 9.47369414e-02 4.67203713e-02 1.45284907e+01] [-9.46931767e-02 9.95501509e-01 -3.15410453e-03 -4.33109483e-01] [-4.68090103e-02 -1.28764177e-03 9.98903028e-01 -1.00431548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.43, Z:-1.01 [[ 9.94655417e-01 9.23644925e-02 4.61454483e-02 1.45617342e+01] [-9.23188700e-02 9.95724596e-01 -3.12344541e-03 -4.34611047e-01] [-4.62366533e-02 -1.15334375e-03 9.98929848e-01 -1.00629247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.44, Z:-1.01 [[ 9.94871313e-01 9.03814334e-02 4.54121810e-02 1.45945858e+01] [-9.03347811e-02 9.95906685e-01 -3.08268356e-03 -4.36253518e-01] [-4.55049120e-02 -1.03542599e-03 9.98963578e-01 -1.00788646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.44, Z:-1.01 [[ 9.95192787e-01 8.70889177e-02 4.47977340e-02 1.46267319e+01] [-8.70397828e-02 9.96200168e-01 -3.04993820e-03 -4.38213480e-01] [-4.48931260e-02 -8.63908548e-04 9.98991422e-01 -1.00999481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.44, Z:-1.01 [[ 9.95240422e-01 8.64114366e-02 4.50507044e-02 1.46586159e+01] [-8.63606688e-02 9.96259191e-01 -3.07563336e-03 -4.40444078e-01] [-4.51479482e-02 -8.29614320e-04 9.98979967e-01 -1.01181514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612640000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.44, Z:-1.02 [[ 9.95315364e-01 8.54153531e-02 4.52939761e-02 1.46911619e+01] [-8.53626280e-02 9.96345125e-01 -3.10053416e-03 -4.40411119e-01] [-4.53932655e-02 -7.80403546e-04 9.98968890e-01 -1.01513701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.44, Z:-1.02 [[ 9.95299556e-01 8.55688920e-02 4.53514918e-02 1.47236231e+01] [-8.55157766e-02 9.96331951e-01 -3.11360599e-03 -4.41540766e-01] [-4.54515681e-02 -7.79297377e-04 9.98966239e-01 -1.01684369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.44, Z:-1.02 [[ 9.95230966e-01 8.61107406e-02 4.58286550e-02 1.47566955e+01] [-8.60566829e-02 9.96285247e-01 -3.15490196e-03 -4.43500325e-01] [-4.59300838e-02 -8.04005902e-04 9.98944333e-01 -1.01646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702640000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.45, Z:-1.02 [[ 9.95158178e-01 8.62445709e-02 4.71388840e-02 1.47896698e+01] [-8.61870980e-02 9.96273654e-01 -3.25418001e-03 -4.45158660e-01] [-4.72438836e-02 -8.24339761e-04 9.98883044e-01 -1.01951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.45, Z:-1.02 [[ 9.95118467e-01 8.64431709e-02 4.76110697e-02 1.48216006e+01] [-8.63843025e-02 9.96256436e-01 -3.29651414e-03 -4.47559802e-01] [-4.77177957e-02 -8.32426950e-04 9.98860510e-01 -1.01947956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.45, Z:-1.02 [[ 9.95226538e-01 8.49633497e-02 4.80142503e-02 1.48542839e+01] [-8.49013310e-02 9.96383788e-01 -3.33331326e-03 -4.50091160e-01] [-4.81238300e-02 -7.59071934e-04 9.98841089e-01 -1.02288765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.45, Z:-1.02 [[ 9.95260527e-01 8.46459117e-02 4.78701666e-02 1.48870993e+01] [-8.45834519e-02 9.96410826e-01 -3.33259446e-03 -4.53388491e-01] [-4.79804427e-02 -7.32224207e-04 9.98848007e-01 -1.02333941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.46, Z:-1.03 [[ 9.95370273e-01 8.38317745e-02 4.70133363e-02 1.49194052e+01] [-8.37701995e-02 9.96479695e-01 -3.28193505e-03 -4.56625866e-01] [-4.71229654e-02 -6.71575973e-04 9.98888870e-01 -1.02731565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.46, Z:-1.03 [[ 9.95411386e-01 8.36426030e-02 4.64767374e-02 1.49509820e+01] [-8.35817868e-02 9.96495609e-01 -3.25376514e-03 -4.59817659e-01] [-4.65860181e-02 -6.45773883e-04 9.98914073e-01 -1.02821403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882640000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.46, Z:-1.03 [[ 9.95428779e-01 8.36637901e-02 4.60642651e-02 1.49839865e+01] [-8.36036853e-02 9.96493838e-01 -3.23324246e-03 -4.62362707e-01] [-4.61732617e-02 -6.32679731e-04 9.98933246e-01 -1.03175362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.47, Z:-1.03 [[ 9.95309282e-01 8.48941871e-02 4.63940837e-02 1.50167641e+01] [-8.48341213e-02 9.96389737e-01 -3.26568426e-03 -4.65292681e-01] [-4.65038265e-02 -6.85435469e-04 9.98917877e-01 -1.03213869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.47, Z:-1.03 [[ 9.95229790e-01 8.61315001e-02 4.58151692e-02 1.50501139e+01] [-8.60738223e-02 9.96283513e-01 -3.23389588e-03 -4.67956524e-01] [-4.59234380e-02 -7.25017213e-04 9.98944699e-01 -1.03358326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.47, Z:-1.04 [[ 9.94964373e-01 8.90870086e-02 4.59282114e-02 1.50817122e+01] [-8.90317610e-02 9.96023481e-01 -3.25120710e-03 -4.69961850e-01] [-4.60352173e-02 -8.54234307e-04 9.98939452e-01 -1.03547333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.47, Z:-1.04 [[ 9.94812467e-01 9.11017016e-02 4.52618611e-02 1.51143571e+01] [-9.10497635e-02 9.95841164e-01 -3.21207948e-03 -4.72501227e-01] [-4.53662503e-02 -9.25665045e-04 9.98969993e-01 -1.03713507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.48, Z:-1.04 [[ 9.94440175e-01 9.51958062e-02 4.50166279e-02 1.51460618e+01] [-9.51482084e-02 9.95457962e-01 -3.20375452e-03 -4.75091432e-01] [-4.51171446e-02 -1.09730928e-03 9.98981101e-01 -1.03980832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062640000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.48, Z:-1.04 [[ 9.94299501e-01 9.66899053e-02 4.49395721e-02 1.51787579e+01] [-9.66436279e-02 9.95313884e-01 -3.20640057e-03 -4.76618812e-01] [-4.50390067e-02 -1.15500080e-03 9.98984561e-01 -1.04312759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.48, Z:-1.05 [[ 9.94291116e-01 9.67764350e-02 4.49388280e-02 1.52121121e+01] [-9.67297764e-02 9.95305482e-01 -3.21679264e-03 -4.79137282e-01] [-4.50391716e-02 -1.14849445e-03 9.98984561e-01 -1.04508885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.48, Z:-1.05 [[ 9.94123087e-01 9.84026034e-02 4.51244438e-02 1.52447446e+01] [-9.83571205e-02 9.95145933e-01 -3.23253298e-03 -4.80004075e-01] [-4.52234964e-02 -1.22477470e-03 9.98976144e-01 -1.04556676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.48, Z:-1.05 [[ 9.93998373e-01 9.96701647e-02 4.50898213e-02 1.52770652e+01] [-9.96256390e-02 9.95019718e-01 -3.23922398e-03 -4.80729983e-01] [-4.51881153e-02 -1.27231890e-03 9.98977685e-01 -1.04740995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.48, Z:-1.05 [[ 9.93784819e-01 1.01879980e-01 4.48575988e-02 1.53091853e+01] [-1.01837784e-01 9.94795772e-01 -3.23088485e-03 -4.81081534e-01] [-4.49533121e-02 -1.35739413e-03 9.98988167e-01 -1.04903015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.48, Z:-1.05 [[ 9.93706980e-01 1.02802120e-01 4.44765225e-02 1.53422353e+01] [-1.02761208e-01 9.94700870e-01 -3.21131782e-03 -4.83290812e-01] [-4.45709660e-02 -1.37935226e-03 9.99005268e-01 -1.05304341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.49, Z:-1.05 [[ 9.93549260e-01 1.04252742e-01 4.46232503e-02 1.53740971e+01] [-1.04212578e-01 9.94549795e-01 -3.23180676e-03 -4.85652401e-01] [-4.47169691e-02 -1.43934473e-03 9.98998659e-01 -1.05300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272640000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.49, Z:-1.06 [[ 9.93325169e-01 1.06080448e-01 4.52995277e-02 1.54069582e+01] [-1.06040740e-01 9.94356358e-01 -3.28549848e-03 -4.85528322e-01] [-4.53924005e-02 -1.54002711e-03 9.98968047e-01 -1.05559065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.49, Z:-1.06 [[ 9.93180066e-01 1.07022346e-01 4.62555310e-02 1.54396045e+01] [-1.06981532e-01 9.94255316e-01 -3.36416461e-03 -4.86267367e-01] [-4.63498484e-02 -1.60726634e-03 9.98923975e-01 -1.05660237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.49, Z:-1.06 [[ 9.93278464e-01 1.05848078e-01 4.68409889e-02 1.54712119e+01] [-1.05804468e-01 9.94381085e-01 -3.41637977e-03 -4.86152937e-01] [-4.69394106e-02 -1.56256947e-03 9.98896516e-01 -1.05922504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.49, Z:-1.06 [[ 9.93414831e-01 1.04522401e-01 4.69259015e-02 1.55032969e+01] [-1.04476746e-01 9.94521410e-01 -3.43129605e-03 -4.88055401e-01] [-4.70274611e-02 -1.49396512e-03 9.98892480e-01 -1.06118825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.49, Z:-1.06 [[ 9.93654498e-01 1.02465006e-01 4.63860077e-02 1.55366296e+01] [-1.02417778e-01 9.94735663e-01 -3.39995847e-03 -4.89959664e-01] [-4.64901928e-02 -1.37236779e-03 9.98917804e-01 -1.06282114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.49, Z:-1.06 [[ 9.94163435e-01 9.77984270e-02 4.55470270e-02 1.55686406e+01] [-9.77475835e-02 9.95205609e-01 -3.34752215e-03 -4.91551948e-01] [-4.56560392e-02 -1.12412771e-03 9.98956587e-01 -1.06479174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.49, Z:-1.07 [[ 9.94379879e-01 9.56993741e-02 4.52800759e-02 1.56004880e+01] [-9.56465689e-02 9.95409766e-01 -3.33630089e-03 -4.94263741e-01] [-4.53915117e-02 -1.01333343e-03 9.98968760e-01 -1.06657076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.50, Z:-1.07 [[ 9.94560173e-01 9.39013622e-02 4.50843176e-02 1.56331795e+01] [-9.38467983e-02 9.95581081e-01 -3.33002127e-03 -4.96831230e-01] [-4.51977872e-02 -9.19112328e-04 9.98977635e-01 -1.06826033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.50, Z:-1.07 [[ 9.94791590e-01 9.15096643e-02 4.48962514e-02 1.56651737e+01] [-9.14527111e-02 9.95803869e-01 -3.32521845e-03 -4.97795742e-01] [-4.50121505e-02 -7.97984559e-04 9.98986121e-01 -1.07028256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.50, Z:-1.07 [[ 9.94819045e-01 9.12965010e-02 4.47215392e-02 1.56974504e+01] [-9.12394011e-02 9.95823451e-01 -3.32060851e-03 -4.98716723e-01] [-4.48379175e-02 -7.76961872e-04 9.98993973e-01 -1.07237119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.50, Z:-1.07 [[ 9.94795251e-01 9.17310250e-02 4.43602033e-02 1.57301360e+01] [-9.16749222e-02 9.95783514e-01 -3.30172411e-03 -4.99412779e-01] [-4.44760297e-02 -7.82178727e-04 9.99010146e-01 -1.07431420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.50, Z:-1.08 [[ 9.94793407e-01 9.22440778e-02 4.33256059e-02 1.57632081e+01] [-9.21906884e-02 9.95736122e-01 -3.23299163e-03 -5.00284910e-01] [-4.34390951e-02 -7.78058679e-04 9.99055774e-01 -1.07721692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632640000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.50, Z:-1.08 [[ 9.94718541e-01 9.32920739e-02 4.27973516e-02 1.57954915e+01] [-9.32405779e-02 9.95638459e-01 -3.20218612e-03 -5.00606404e-01] [-4.29094278e-02 -8.05175887e-04 9.99078642e-01 -1.08006306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.50, Z:-1.08 [[ 9.94699450e-01 9.33786421e-02 4.30515153e-02 1.58275502e+01] [-9.33262619e-02 9.95630343e-01 -3.22934411e-03 -5.02253183e-01] [-4.31649467e-02 -8.05610172e-04 9.99067635e-01 -1.08127007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.50, Z:-1.08 [[ 9.94718486e-01 9.31303792e-02 4.31493489e-02 1.58595575e+01] [-9.30771804e-02 9.95653610e-01 -3.24469012e-03 -5.04496808e-01] [-4.32639842e-02 -7.88666488e-04 9.99063364e-01 -1.08331529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.51, Z:-1.08 [[ 9.94825798e-01 9.13612585e-02 4.44381863e-02 1.58928591e+01] [-9.13027164e-02 9.95817551e-01 -3.34952888e-03 -5.06911470e-01] [-4.45583430e-02 -7.25129381e-04 9.99006521e-01 -1.08469519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.51, Z:-1.09 [[ 9.94883488e-01 9.02790718e-02 4.53490365e-02 1.59262745e+01] [-9.02165663e-02 9.95916274e-01 -3.42729808e-03 -5.09068475e-01] [-4.54732568e-02 -6.81472089e-04 9.98965324e-01 -1.08611937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.51, Z:-1.09 [[ 9.95108971e-01 8.71050188e-02 4.65923921e-02 1.59587935e+01] [-8.70351192e-02 9.96198987e-01 -3.53069741e-03 -5.11358009e-01] [-4.67228353e-02 -5.41745731e-04 9.98907745e-01 -1.08750015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.51, Z:-1.09 [[ 9.95263337e-01 8.50563230e-02 4.70777155e-02 1.59918576e+01] [-8.49822243e-02 9.96376047e-01 -3.57686842e-03 -5.14466275e-01] [-4.72113433e-02 -4.40842968e-04 9.98884826e-01 -1.08895026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.52, Z:-1.09 [[ 9.95429439e-01 8.27880207e-02 4.76064558e-02 1.60232709e+01] [-8.27091589e-02 9.96567126e-01 -3.62741026e-03 -5.18034532e-01] [-4.77433350e-02 -3.26658957e-04 9.98859583e-01 -1.09252648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.52, Z:-1.09 [[ 9.95596740e-01 8.06578523e-02 4.77644446e-02 1.60563140e+01] [-8.05757685e-02 9.96741823e-01 -3.64460176e-03 -5.22290029e-01] [-4.79027854e-02 -2.20103204e-04 9.98851978e-01 -1.09345836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.53, Z:-1.10 [[ 9.95930732e-01 7.70741017e-02 4.67071735e-02 1.60885452e+01] [-7.69912580e-02 9.97025366e-01 -3.57278179e-03 -5.29150329e-01] [-4.68436057e-02 -3.78008555e-05 9.98902235e-01 -1.09549552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.53, Z:-1.10 [[ 9.96060569e-01 7.60189772e-02 4.56558548e-02 1.61210059e+01] [-7.59383126e-02 9.97106371e-01 -3.50113928e-03 -5.34107700e-01] [-4.57898967e-02 2.03182117e-05 9.98951092e-01 -1.09875783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.54, Z:-1.10 [[ 9.96060990e-01 7.63654469e-02 4.50646488e-02 1.61521828e+01] [-7.62868069e-02 9.97079896e-01 -3.46478783e-03 -5.40311942e-01] [-4.51976454e-02 1.33018385e-05 9.98978064e-01 -1.09964390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.54, Z:-1.10 [[ 9.95998034e-01 7.76019224e-02 4.43379854e-02 1.61850489e+01] [-7.75266711e-02 9.96984423e-01 -3.41684071e-03 -5.43864478e-01] [-4.44694342e-02 -3.42097808e-05 9.99010745e-01 -1.10100392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.55, Z:-1.10 [[ 9.95807105e-01 8.00089501e-02 4.43483753e-02 1.62175014e+01] [-7.99356610e-02 9.96794136e-01 -3.42635382e-03 -5.46922659e-01] [-4.44803394e-02 -1.33029210e-04 9.99010251e-01 -1.10255812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.55, Z:-1.10 [[ 9.95520005e-01 8.34949419e-02 4.43679376e-02 1.62507382e+01] [-8.34246549e-02 9.96508162e-01 -3.43667449e-03 -5.49765656e-01] [-4.44999569e-02 -2.80101674e-04 9.99009347e-01 -1.10416757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.55, Z:-1.11 [[ 9.94772416e-01 9.14482335e-02 4.54429510e-02 1.62822964e+01] [-9.13823515e-02 9.95809625e-01 -3.52944752e-03 -5.51466869e-01] [-4.55752897e-02 -6.41686690e-04 9.98960701e-01 -1.10550550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112640000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.55, Z:-1.11 [[ 9.94351771e-01 9.57688760e-02 4.57479800e-02 1.63146703e+01] [-9.57062835e-02 9.95403246e-01 -3.56163155e-03 -5.53872986e-01] [-4.58787813e-02 -8.36854506e-04 9.98946664e-01 -1.10882464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.56, Z:-1.11 [[ 9.93644691e-01 1.02907313e-01 4.56104468e-02 1.63476957e+01] [-1.02852198e-01 9.94690280e-01 -3.55978810e-03 -5.55471973e-01] [-4.57345963e-02 -1.15397017e-03 9.98952959e-01 -1.11011692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.56, Z:-1.11 [[ 9.93354690e-01 1.05630444e-01 4.57019662e-02 1.63804161e+01] [-1.05577578e-01 9.94404640e-01 -3.57581613e-03 -5.56476068e-01] [-4.58239623e-02 -1.27304916e-03 9.98948719e-01 -1.11231786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.56, Z:-1.11 [[ 9.93116900e-01 1.07659572e-01 4.61328388e-02 1.64138068e+01] [-1.07607459e-01 9.94186873e-01 -3.61883634e-03 -5.57243927e-01] [-4.62542652e-02 -1.37031004e-03 9.98928759e-01 -1.11480404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.56, Z:-1.12 [[ 9.92947014e-01 1.09149299e-01 4.62888509e-02 1.64471317e+01] [-1.09098023e-01 9.94024331e-01 -3.64023662e-03 -5.56422933e-01] [-4.64095733e-02 -1.43546006e-03 9.98921464e-01 -1.11681234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.56, Z:-1.12 [[ 9.92967816e-01 1.08990672e-01 4.62163470e-02 1.64794905e+01] [-1.08938957e-01 9.94041763e-01 -3.64376586e-03 -5.57835133e-01] [-4.63381156e-02 -1.41661840e-03 9.98924808e-01 -1.11867104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.56, Z:-1.12 [[ 9.93046912e-01 1.08263901e-01 4.62250811e-02 1.65128650e+01] [-1.08210996e-01 9.94121239e-01 -3.65274562e-03 -5.59146904e-01] [-4.63487954e-02 -1.37471430e-03 9.98924371e-01 -1.12039495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.56, Z:-1.12 [[ 9.93149336e-01 1.07364210e-01 4.61229045e-02 1.65447060e+01] [-1.07310101e-01 9.94218882e-01 -3.65477792e-03 -5.60483510e-01] [-4.62486549e-02 -1.31971330e-03 9.98929087e-01 -1.12243580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.56, Z:-1.12 [[ 9.93414869e-01 1.05221626e-01 4.53355030e-02 1.65762679e+01] [-1.05166868e-01 9.94448081e-01 -3.59792232e-03 -5.60550322e-01] [-4.54623832e-02 -1.19356334e-03 9.98965338e-01 -1.12477977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.56, Z:-1.13 [[ 9.93529486e-01 1.04270232e-01 4.50208650e-02 1.66097465e+01] [-1.04215053e-01 9.94548352e-01 -3.57743277e-03 -5.61501934e-01] [-4.51484468e-02 -1.13756690e-03 9.98979641e-01 -1.12680330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.56, Z:-1.13 [[ 9.93771256e-01 1.02525584e-01 4.36714542e-02 1.66424418e+01] [-1.02471618e-01 9.94729847e-01 -3.47845539e-03 -5.59485594e-01] [-4.37979296e-02 -1.01829561e-03 9.99039891e-01 -1.12960826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.56, Z:-1.13 [[ 9.93916494e-01 1.01379076e-01 4.30381890e-02 1.66740983e+01] [-1.01325180e-01 9.94847421e-01 -3.43751877e-03 -5.60709673e-01] [-4.31649238e-02 -9.44245656e-04 9.99067514e-01 -1.13186169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.56, Z:-1.13 [[ 9.94205032e-01 9.83336044e-02 4.34379695e-02 1.67070867e+01] [-9.82756076e-02 9.95153173e-01 -3.47380165e-03 -5.62106982e-01] [-4.35690247e-02 -8.15221773e-04 9.99050087e-01 -1.13367855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.56, Z:-1.13 [[ 9.94292477e-01 9.70290027e-02 4.43603808e-02 1.67390756e+01] [-9.69667747e-02 9.95281261e-01 -3.55753306e-03 -5.63277175e-01] [-4.44962397e-02 -7.64254697e-04 9.99009260e-01 -1.13493238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.56, Z:-1.14 [[ 9.94400972e-01 9.57903836e-02 4.46196045e-02 1.67723211e+01] [-9.57259824e-02 9.95401276e-01 -3.58273254e-03 -5.64019512e-01] [-4.47576026e-02 -7.08582752e-04 9.98997625e-01 -1.13615818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.57, Z:-1.14 [[ 9.94438817e-01 9.50897953e-02 4.52699739e-02 1.68047432e+01] [-9.50223133e-02 9.95468469e-01 -3.64515541e-03 -5.65402002e-01] [-4.54114487e-02 -6.76773620e-04 9.98968139e-01 -1.13789263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.57, Z:-1.14 [[ 9.94509855e-01 9.36485073e-02 4.66915942e-02 1.68379990e+01] [-9.35748888e-02 9.95605126e-01 -3.76480618e-03 -5.66131700e-01] [-4.68389590e-02 -6.25023885e-04 9.98902258e-01 -1.13916906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.57, Z:-1.14 [[ 9.94467043e-01 9.38087066e-02 4.72781783e-02 1.68703354e+01] [-9.37329489e-02 9.95590040e-01 -3.82175138e-03 -5.67082012e-01] [-4.74281970e-02 -6.30917270e-04 9.98874451e-01 -1.14125468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.57, Z:-1.14 [[ 9.94373824e-01 9.51071660e-02 4.66403754e-02 1.69030162e+01] [-9.50344771e-02 9.95466811e-01 -3.77850247e-03 -5.65976070e-01] [-4.67883084e-02 -6.75199736e-04 9.98904599e-01 -1.14338099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682640000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.57, Z:-1.15 [[ 9.94246812e-01 9.66523171e-02 4.61693184e-02 1.69355071e+01] [-9.65823351e-02 9.95317937e-01 -3.74937240e-03 -5.66952183e-01] [-4.63155363e-02 -7.31339029e-04 9.98926592e-01 -1.14738458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.57, Z:-1.15 [[ 9.94094445e-01 9.83140372e-02 4.59411076e-02 1.69686963e+01] [-9.82461016e-02 9.95155122e-01 -3.73987230e-03 -5.67700407e-01] [-4.60862105e-02 -7.95748446e-04 9.98937149e-01 -1.14923707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.57, Z:-1.15 [[ 9.93861184e-01 1.00870289e-01 4.54437174e-02 1.70009632e+01] [-1.00806076e-01 9.94899182e-01 -3.70837400e-03 -5.66647014e-01] [-4.55859821e-02 -8.95393847e-04 9.98960017e-01 -1.15015670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.57, Z:-1.15 [[ 9.93805193e-01 1.01579841e-01 4.50862913e-02 1.70328958e+01] [-1.01516989e-01 9.94826972e-01 -3.68747932e-03 -5.67926280e-01] [-4.52276322e-02 -9.12388442e-04 9.98976290e-01 -1.15219640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.57, Z:-1.16 [[ 9.93824047e-01 1.01555342e-01 4.47244376e-02 1.70645826e+01] [-1.01493115e-01 9.94829488e-01 -3.66578294e-03 -5.69982352e-01] [-4.48654692e-02 -8.96079270e-04 9.98992636e-01 -1.15643343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.57, Z:-1.16 [[ 9.93839995e-01 1.01221621e-01 4.51248115e-02 1.70974943e+01] [-1.01157573e-01 9.94863512e-01 -3.70650308e-03 -5.72445891e-01] [-4.52682067e-02 -8.81045423e-04 9.98974481e-01 -1.15633930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.57, Z:-1.16 [[ 9.93882972e-01 1.00095963e-01 4.66630066e-02 1.71296736e+01] [-1.00025786e-01 9.94977426e-01 -3.84240622e-03 -5.73568742e-01] [-4.68132476e-02 -8.48601797e-04 9.98903298e-01 -1.15679789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.57, Z:-1.16 [[ 9.93882632e-01 9.98185371e-02 4.72606888e-02 1.71625100e+01] [-9.97458290e-02 9.95005305e-01 -3.90021646e-03 -5.74752808e-01] [-4.74139500e-02 -8.37699186e-04 9.98874975e-01 -1.16040782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.58, Z:-1.16 [[ 9.93885929e-01 9.98531442e-02 4.71180418e-02 1.71952567e+01] [-9.97804933e-02 9.95001841e-01 -3.89731977e-03 -5.76407131e-01] [-4.72716980e-02 -8.27970171e-04 9.98881725e-01 -1.16020439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.58, Z:-1.16 [[ 9.93874628e-01 1.00368109e-01 4.62543725e-02 1.72277695e+01] [-1.00298255e-01 9.94950027e-01 -3.83449187e-03 -5.77940279e-01] [-4.64056499e-02 -8.28228679e-04 9.98922334e-01 -1.16219117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.58, Z:-1.16 [[ 9.93865635e-01 1.00457533e-01 4.62534703e-02 1.72610986e+01] [-1.00387271e-01 9.94941008e-01 -3.84534151e-03 -5.80842495e-01] [-4.64057679e-02 -8.21506865e-04 9.98922334e-01 -1.16415197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.58, Z:-1.17 [[ 9.93800929e-01 1.01240519e-01 4.59355017e-02 1.72929403e+01] [-1.01171925e-01 9.94861616e-01 -3.82175199e-03 -5.82687106e-01] [-4.60863836e-02 -8.49322439e-04 9.98937097e-01 -1.16652555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.58, Z:-1.17 [[ 9.93580871e-01 1.03635525e-01 4.53511858e-02 1.73258342e+01] [-1.03570772e-01 9.94614898e-01 -3.78157153e-03 -5.82791074e-01] [-4.54988702e-02 -9.39760187e-04 9.98963948e-01 -1.16886140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.58, Z:-1.17 [[ 9.93425971e-01 1.05033541e-01 4.55279533e-02 1.73573768e+01] [-1.04969322e-01 9.94468179e-01 -3.80565431e-03 -5.83877680e-01] [-4.56758221e-02 -9.98402571e-04 9.98955816e-01 -1.17073395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.59, Z:-1.17 [[ 9.93323577e-01 1.05966685e-01 4.55997048e-02 1.73902214e+01] [-1.05902860e-01 9.94369142e-01 -3.82005715e-03 -5.85399313e-01] [-4.57477381e-02 -1.03458633e-03 9.98952488e-01 -1.17252612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.59, Z:-1.17 [[ 9.93255098e-01 1.06599326e-01 4.56168131e-02 1.74225323e+01] [-1.06535697e-01 9.94301499e-01 -3.83071663e-03 -5.87358128e-01] [-4.57652174e-02 -1.05494016e-03 9.98951666e-01 -1.17482647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.59, Z:-1.18 [[ 9.93324931e-01 1.06128156e-01 4.51928708e-02 1.74549121e+01] [-1.06064851e-01 9.94351941e-01 -3.80320043e-03 -5.89838808e-01] [-4.53412454e-02 -1.01556128e-03 9.98971041e-01 -1.17693571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.59, Z:-1.18 [[ 9.93426676e-01 1.05334936e-01 4.48106008e-02 1.74881041e+01] [-1.05271494e-01 9.94436336e-01 -3.77984858e-03 -5.92978219e-01] [-4.49594397e-02 -9.62276466e-04 9.98988350e-01 -1.17940442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.60, Z:-1.18 [[ 9.93782503e-01 1.02381779e-01 4.37528165e-02 1.75193121e+01] [-1.02318059e-01 9.94744857e-01 -3.69921477e-03 -5.97210530e-01] [-4.39016214e-02 -8.00488360e-04 9.99035538e-01 -1.18196000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.60, Z:-1.18 [[ 9.93947296e-01 1.00862297e-01 4.35381430e-02 1.75521147e+01] [-1.00797401e-01 9.94900134e-01 -3.68891267e-03 -6.01527974e-01] [-4.36881765e-02 -7.21946879e-04 9.99044955e-01 -1.18411465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.61, Z:-1.19 [[ 9.94092359e-01 9.95350057e-02 4.32800679e-02 1.75848728e+01] [-9.94692614e-02 9.95033848e-01 -3.67529453e-03 -6.05042491e-01] [-4.34309530e-02 -6.51454181e-04 9.99056219e-01 -1.18590206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.61, Z:-1.19 [[ 9.94198174e-01 9.85321616e-02 4.31439978e-02 1.76174177e+01] [-9.84655223e-02 9.95133688e-01 -3.67213993e-03 -6.07907506e-01] [-4.32958695e-02 -5.97361462e-04 9.99062116e-01 -1.18784536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.61, Z:-1.19 [[ 9.94365776e-01 9.67730838e-02 4.32628422e-02 1.76490488e+01] [-9.67040355e-02 9.95306338e-01 -3.69093535e-03 -6.11845774e-01] [-4.34169643e-02 -5.13551635e-04 9.99056907e-01 -1.18996442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.62, Z:-1.19 [[ 9.94443797e-01 9.59781807e-02 4.32403028e-02 1.76821601e+01] [-9.59081189e-02 9.95383327e-01 -3.69671081e-03 -6.16342322e-01] [-4.33954800e-02 -4.70924968e-04 9.99057861e-01 -1.19206430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.62, Z:-1.19 [[ 9.94498256e-01 9.53503711e-02 4.33765483e-02 1.77145649e+01] [-9.52789102e-02 9.95443678e-01 -3.71661733e-03 -6.22610887e-01] [-4.35332916e-02 -4.36700798e-04 9.99051881e-01 -1.19424677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.63, Z:-1.20 [[ 9.94463492e-01 9.57471113e-02 4.32995775e-02 1.77476124e+01] [-9.56759220e-02 9.95405592e-01 -3.71824492e-03 -6.25728154e-01] [-4.34566528e-02 -4.45068173e-04 9.99055214e-01 -1.19596116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.63, Z:-1.20 [[ 9.94372446e-01 9.67074909e-02 4.32562044e-02 1.77800579e+01] [-9.66369672e-02 9.95312731e-01 -3.72338168e-03 -6.27351029e-01] [-4.34135299e-02 -4.77720263e-04 9.99057074e-01 -1.19754666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.63, Z:-1.20 [[ 9.94179923e-01 9.86947663e-02 4.31928789e-02 1.78128081e+01] [-9.86259824e-02 9.95117598e-01 -3.72578275e-03 -6.28527281e-01] [-4.33497091e-02 -5.55841708e-04 9.99059805e-01 -1.19995381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.63, Z:-1.20 [[ 9.94121615e-01 9.92984266e-02 4.31513389e-02 1.78440450e+01] [-9.92299599e-02 9.95057533e-01 -3.73104173e-03 -6.32297846e-01] [-4.33085515e-02 -5.72796405e-04 9.99061580e-01 -1.20234345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.64, Z:-1.20 [[ 9.94082189e-01 9.96951196e-02 4.31449173e-02 1.78754198e+01] [-9.96266941e-02 9.95017861e-01 -3.73862205e-03 -6.36350108e-01] [-4.33026858e-02 -5.81887892e-04 9.99061829e-01 -1.20441930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.64, Z:-1.21 [[ 9.94112664e-01 9.96721549e-02 4.24908469e-02 1.79086548e+01] [-9.96054520e-02 9.95020172e-01 -3.68934410e-03 -6.39333305e-01] [-4.26469747e-02 -5.64696321e-04 9.99090044e-01 -1.20555944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.64, Z:-1.21 [[ 9.94120347e-01 9.95354840e-02 4.26312525e-02 1.79404831e+01] [-9.94678369e-02 9.95033860e-01 -3.71033905e-03 -6.41857835e-01] [-4.27888501e-02 -5.51914922e-04 9.99083985e-01 -1.20775840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.64, Z:-1.21 [[ 9.94102419e-01 9.95428666e-02 4.30302059e-02 1.79735909e+01] [-9.94736105e-02 9.95033123e-01 -3.75300767e-03 -6.44842662e-01] [-4.31900653e-02 -5.49495934e-04 9.99066723e-01 -1.20956048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.65, Z:-1.21 [[ 9.94098928e-01 9.94289764e-02 4.33728051e-02 1.80050048e+01] [-9.93581093e-02 9.95044515e-01 -3.79195522e-03 -6.47088294e-01] [-4.35349020e-02 -5.39861286e-04 9.99051761e-01 -1.21138573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.65, Z:-1.21 [[ 9.94089851e-01 9.96448884e-02 4.30843849e-02 1.80383961e+01] [-9.95748215e-02 9.95022918e-01 -3.77464128e-03 -6.49418082e-01] [-4.32460741e-02 -5.37787341e-04 9.99064306e-01 -1.21325096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.65, Z:-1.21 [[ 9.94113485e-01 9.89185163e-02 4.41984957e-02 1.80703436e+01] [-9.88436510e-02 9.95095406e-01 -3.88146123e-03 -6.51151332e-01] [-4.43656684e-02 -5.10127738e-04 9.99015229e-01 -1.21476192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.65, Z:-1.22 [[ 9.94160205e-01 9.79970482e-02 4.51892277e-02 1.81025033e+01] [-9.79174438e-02 9.95186594e-01 -3.97711204e-03 -6.54978145e-01] [-4.53614588e-02 -4.70927141e-04 9.98970528e-01 -1.21680389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.66, Z:-1.22 [[ 9.94283602e-01 9.65696290e-02 4.55458655e-02 1.81347886e+01] [-9.64869010e-02 9.95326151e-01 -4.01647129e-03 -6.59044168e-01] [-4.57208602e-02 -4.01067875e-04 9.98954174e-01 -1.21832378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.66, Z:-1.22 [[ 9.94449009e-01 9.48123798e-02 4.56265502e-02 1.81672075e+01] [-9.47270981e-02 9.95495111e-01 -4.03255858e-03 -6.62949264e-01] [-4.58033441e-02 -3.11896811e-04 9.98950427e-01 -1.21989238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.85264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.67, Z:-1.22 [[ 9.94765687e-01 9.13400900e-02 4.58062885e-02 1.81991025e+01] [-9.12500185e-02 9.95819746e-01 -4.05791224e-03 -6.65175080e-01] [-4.59854567e-02 -1.43152823e-04 9.98942099e-01 -1.22307763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.67, Z:-1.22 [[ 9.94853934e-01 9.03094887e-02 4.59330713e-02 1.82320795e+01] [-9.02174199e-02 9.95913746e-01 -4.07780497e-03 -6.68216284e-01] [-4.61136416e-02 -8.71428692e-05 9.98936196e-01 -1.22306494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.67, Z:-1.22 [[ 9.94972318e-01 8.91810973e-02 4.55721158e-02 1.82648202e+01] [-8.90889087e-02 9.96015427e-01 -4.05402798e-03 -6.72193301e-01] [-4.57520730e-02 -2.63244485e-05 9.98952825e-01 -1.22487481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.68, Z:-1.23 [[ 9.94953855e-01 8.95762310e-02 4.51987315e-02 1.82976468e+01] [-8.94855578e-02 9.95979968e-01 -4.02956148e-03 -6.75436611e-01] [-4.53779841e-02 -3.54059727e-05 9.98969888e-01 -1.22855238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972640000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.68, Z:-1.23 [[ 9.94905174e-01 9.03087944e-02 4.48108978e-02 1.83293655e+01] [-9.02200191e-02 9.95913811e-01 -4.00375386e-03 -6.79038632e-01] [-4.49893661e-02 -5.94846209e-05 9.98987464e-01 -1.23045717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.68, Z:-1.23 [[ 9.94664198e-01 9.30819722e-02 4.44846107e-02 1.83626028e+01] [-9.29969107e-02 9.95658433e-01 -3.98234340e-03 -6.82943461e-01] [-4.46621622e-02 -1.75836967e-04 9.99002132e-01 -1.22965537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.69, Z:-1.23 [[ 9.94432327e-01 9.52970815e-02 4.49756943e-02 1.83947418e+01] [-9.52119800e-02 9.95448840e-01 -4.03547896e-03 -6.85019782e-01] [-4.51555721e-02 -2.69214176e-04 9.98979931e-01 -1.23159512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.69, Z:-1.23 [[ 9.93961434e-01 1.00177851e-01 4.47779576e-02 1.84277099e+01] [-1.00098080e-01 9.94969430e-01 -4.02582294e-03 -6.85997690e-01] [-4.49559973e-02 -4.80674835e-04 9.98988852e-01 -1.23303964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.69, Z:-1.24 [[ 9.93674523e-01 1.02796896e-01 4.52077369e-02 1.84607654e+01] [-1.02717824e-01 9.94702189e-01 -4.07480413e-03 -6.88481229e-01] [-4.53871120e-02 -5.94611328e-04 9.98969297e-01 -1.23503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.69, Z:-1.24 [[ 9.93375054e-01 1.05535285e-01 4.54786355e-02 1.84939498e+01] [-1.05458016e-01 9.94415297e-01 -4.10169365e-03 -6.90606208e-01] [-4.56575242e-02 -7.21566503e-04 9.98956891e-01 -1.23654853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.69, Z:-1.24 [[ 9.93063010e-01 1.08296949e-01 4.57998882e-02 1.85254499e+01] [-1.08221085e-01 9.94118231e-01 -4.14007652e-03 -6.92271106e-01] [-4.59788615e-02 -8.45156728e-04 9.98942055e-01 -1.23794760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.69, Z:-1.24 [[ 9.92613256e-01 1.12581601e-01 4.52140040e-02 1.85577500e+01] [-1.12511727e-01 9.93641957e-01 -4.09542311e-03 -6.92576461e-01] [-4.53876007e-02 -1.02193442e-03 9.98968929e-01 -1.24047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.69, Z:-1.24 [[ 9.92473644e-01 1.13996555e-01 4.47308761e-02 1.85910654e+01] [-1.13929245e-01 9.93480572e-01 -4.05959112e-03 -6.93946200e-01] [-4.49020358e-02 -1.06711776e-03 9.98990825e-01 -1.24238541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.69, Z:-1.24 [[ 9.92327110e-01 1.15341290e-01 4.45341864e-02 1.86235899e+01] [-1.15275486e-01 9.93325298e-01 -4.05153530e-03 -6.92824499e-01] [-4.47042433e-02 -1.11325166e-03 9.98999645e-01 -1.24419782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.69, Z:-1.25 [[ 9.92311666e-01 1.15506986e-01 4.44487803e-02 1.86561571e+01] [-1.15441401e-01 9.93306043e-01 -4.04821897e-03 -6.94223536e-01] [-4.46188396e-02 -1.11413455e-03 9.99003462e-01 -1.24601030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.70, Z:-1.25 [[ 9.92307141e-01 1.15398263e-01 4.48305665e-02 1.86877926e+01] [-1.15331024e-01 9.93318685e-01 -4.09211004e-03 -6.96329676e-01] [-4.50032617e-02 -1.10972514e-03 9.98986224e-01 -1.24813685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.70, Z:-1.25 [[ 9.92355640e-01 1.14790686e-01 4.53142507e-02 1.87202516e+01] [-1.14720975e-01 9.93389108e-01 -4.14462779e-03 -6.98780786e-01] [-4.54904477e-02 -1.08555026e-03 9.98964184e-01 -1.25021931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.70, Z:-1.25 [[ 9.92528632e-01 1.12858687e-01 4.63662758e-02 1.87518652e+01] [-1.12783129e-01 9.93610535e-01 -4.25084147e-03 -6.99663038e-01] [-4.65497645e-02 -1.01025178e-03 9.98915461e-01 -1.25149822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.70, Z:-1.25 [[ 9.92633013e-01 1.11743804e-01 4.68297274e-02 1.87846261e+01] [-1.11665263e-01 9.93736582e-01 -4.29811594e-03 -7.01303844e-01] [-4.70167011e-02 -9.62802043e-04 9.98893639e-01 -1.25346547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.70, Z:-1.26 [[ 9.92762395e-01 1.10607663e-01 4.67843163e-02 1.88177233e+01] [-1.10527593e-01 9.93863741e-01 -4.30288274e-03 -7.03033309e-01] [-4.69731675e-02 -8.99217713e-04 9.98895747e-01 -1.25794831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.70, Z:-1.26 [[ 9.93031396e-01 1.08713257e-01 4.54980650e-02 1.88501148e+01] [-1.08635129e-01 9.94072845e-01 -4.19366161e-03 -7.04100029e-01] [-4.56842975e-02 -7.78250499e-04 9.98955624e-01 -1.25728544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.71, Z:-1.26 [[ 9.93138375e-01 1.07935498e-01 4.50121815e-02 1.88815201e+01] [-1.07857851e-01 9.94157634e-01 -4.15727845e-03 -7.06529115e-01] [-4.51979218e-02 -7.26164397e-04 9.98977788e-01 -1.25963175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.71, Z:-1.26 [[ 9.93360260e-01 1.06451463e-01 4.36288786e-02 1.89147746e+01] [-1.06376752e-01 9.94317700e-01 -4.03714632e-03 -7.08303213e-01] [-4.38107263e-02 -6.30757656e-04 9.99039650e-01 -1.26179004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.71, Z:-1.26 [[ 9.93382184e-01 1.06507653e-01 4.29878736e-02 1.89467150e+01] [-1.06434763e-01 9.94311693e-01 -3.98734761e-03 -7.10701458e-01] [-4.31680284e-02 -6.14444052e-04 9.99067637e-01 -1.26389697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.71, Z:-1.27 [[ 9.93343168e-01 1.07038753e-01 4.25682521e-02 1.89792640e+01] [-1.06967593e-01 9.94254651e-01 -3.95249620e-03 -7.12622260e-01] [-4.27467529e-02 -6.27238360e-04 9.99085743e-01 -1.26530870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.71, Z:-1.27 [[ 9.93131037e-01 1.08775352e-01 4.31122427e-02 1.90114068e+01] [-1.08703620e-01 9.94066109e-01 -4.01166013e-03 -7.12222305e-01] [-4.32927891e-02 -7.02352682e-04 9.99062181e-01 -1.26693268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.71, Z:-1.27 [[ 9.93008102e-01 1.09946460e-01 4.29730747e-02 1.90438939e+01] [-1.09875965e-01 9.93937233e-01 -4.00613876e-03 -7.14261128e-01] [-4.31529997e-02 -7.43579821e-04 9.99068199e-01 -1.26911221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.72, Z:-1.27 [[ 9.92895698e-01 1.11011562e-01 4.28318246e-02 1.90766580e+01] [-1.10942157e-01 9.93818810e-01 -4.00140353e-03 -7.16860641e-01] [-4.30112750e-02 -7.78878665e-04 9.99074283e-01 -1.27116893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.72, Z:-1.27 [[ 9.92756614e-01 1.12211030e-01 4.29300640e-02 1.91089113e+01] [-1.12142000e-01 9.93684058e-01 -4.02047953e-03 -7.17777792e-01] [-4.31100623e-02 -8.22905586e-04 9.99069990e-01 -1.27341171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.72, Z:-1.27 [[ 9.92770340e-01 1.12293233e-01 4.23943512e-02 1.91421249e+01] [-1.12225814e-01 9.93674781e-01 -3.97445025e-03 -7.19229221e-01] [-4.25725015e-02 -8.12024253e-04 9.99093050e-01 -1.27471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.72, Z:-1.28 [[ 9.92761655e-01 1.12109756e-01 4.30778350e-02 1.91741494e+01] [-1.12039547e-01 9.93695502e-01 -4.04834981e-03 -7.20138405e-01] [-4.32601104e-02 -8.07374660e-04 9.99063517e-01 -1.27691799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.72, Z:-1.28 [[ 9.92914119e-01 1.10727217e-01 4.31397128e-02 1.92076277e+01] [-1.10655318e-01 9.93850557e-01 -4.05840632e-03 -7.19744202e-01] [-4.33238036e-02 -7.43989716e-04 9.99060806e-01 -1.27943515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.72, Z:-1.28 [[ 9.93067839e-01 1.09256414e-01 4.33509408e-02 1.92394411e+01] [-1.09182026e-01 9.94013371e-01 -4.08705864e-03 -7.21421126e-01] [-4.35379522e-02 -6.74417041e-04 9.99051546e-01 -1.28111018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.72, Z:-1.28 [[ 9.93433812e-01 1.05207542e-01 4.49514678e-02 1.92716643e+01] [-1.05123024e-01 9.94450158e-01 -4.24659283e-03 -7.22049551e-01] [-4.51487679e-02 -5.06725330e-04 9.98980146e-01 -1.28241459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.73, Z:-1.28 [[ 9.93425079e-01 1.05290348e-01 4.49505762e-02 1.93049612e+01] [-1.05205489e-01 9.94441397e-01 -4.25600800e-03 -7.25339321e-01] [-4.51488304e-02 -5.01022249e-04 9.98980146e-01 -1.28437518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.73, Z:-1.29 [[ 9.93634105e-01 1.02929528e-01 4.57905745e-02 1.93371013e+01] [-1.02838834e-01 9.94688571e-01 -4.33828620e-03 -7.28617237e-01] [-4.59938989e-02 -3.98380161e-04 9.98941641e-01 -1.28648728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932640000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.73, Z:-1.29 [[ 9.93874172e-01 1.00502043e-01 4.59724951e-02 1.93699133e+01] [-1.00407657e-01 9.94936813e-01 -4.36359634e-03 -7.32658997e-01] [-4.61782781e-02 -2.79124815e-04 9.98933175e-01 -1.29122639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.74, Z:-1.29 [[ 9.94218954e-01 9.72369301e-02 4.55373621e-02 1.94028458e+01] [-9.71405124e-02 9.95261255e-01 -4.33074117e-03 -7.36065905e-01] [-4.57426802e-02 -1.17817740e-04 9.98953249e-01 -1.29046869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.74, Z:-1.29 [[ 9.94851919e-01 9.05078001e-02 4.55850475e-02 1.94351121e+01] [-9.04036886e-02 9.95895726e-01 -4.34458550e-03 -7.37671218e-01] [-4.57911729e-02 2.01162780e-04 9.98951014e-01 -1.29194750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.74, Z:-1.29 [[ 9.95161714e-01 8.70165871e-02 4.56210000e-02 1.94676530e+01] [-8.69082592e-02 9.96206794e-01 -4.35639139e-03 -7.41112886e-01] [-4.58270284e-02 3.70472229e-04 9.98949321e-01 -1.29414814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.75, Z:-1.30 [[ 9.95422474e-01 8.39630084e-02 4.56542689e-02 1.94989753e+01] [-8.38508967e-02 9.96468736e-01 -4.36861350e-03 -7.45734301e-01] [-4.58598536e-02 5.20464666e-04 9.98947748e-01 -1.29650973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.75, Z:-1.30 [[ 9.95905366e-01 7.88465656e-02 4.42235267e-02 1.95315320e+01] [-7.87360021e-02 9.96886489e-01 -4.23912082e-03 -7.52201410e-01] [-4.44200763e-02 7.39779482e-04 9.99012667e-01 -1.29813184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112640000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.76, Z:-1.30 [[ 9.96031776e-01 7.76220682e-02 4.35375189e-02 1.95642671e+01] [-7.75133741e-02 9.96982542e-01 -4.18175595e-03 -7.56999492e-01] [-4.37307428e-02 7.90421818e-04 9.99043041e-01 -1.30198910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.76, Z:-1.30 [[ 9.96119943e-01 7.67535685e-02 4.30575000e-02 1.95960325e+01] [-7.66460711e-02 9.97049750e-01 -4.14437207e-03 -7.61825264e-01] [-4.32485649e-02 8.28103464e-04 9.99064000e-01 -1.30159795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.77, Z:-1.30 [[ 9.96048781e-01 7.78010296e-02 4.28231864e-02 1.96276384e+01] [-7.76953238e-02 9.96968596e-01 -4.12978862e-03 -7.68081266e-01] [-4.30146738e-02 7.86309594e-04 9.99074131e-01 -1.30339689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.77, Z:-1.31 [[ 9.95909176e-01 7.97724001e-02 4.24414607e-02 1.96599197e+01] [-7.96700457e-02 9.96812857e-01 -4.10034162e-03 -7.71955312e-01] [-4.26332878e-02 7.02254730e-04 9.99090541e-01 -1.30555681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.78, Z:-1.31 [[ 9.95440315e-01 8.53130925e-02 4.26644540e-02 1.96923022e+01] [-8.52143927e-02 9.96354079e-01 -4.13003687e-03 -7.76818667e-01] [-4.28612490e-02 4.75579668e-04 9.99080921e-01 -1.30666827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.78, Z:-1.31 [[ 9.95135267e-01 8.82793019e-02 4.37328831e-02 1.97240479e+01] [-8.81780583e-02 9.96095694e-01 -4.24250227e-03 -7.80500919e-01] [-4.39366617e-02 3.65582911e-04 9.99034252e-01 -1.30839800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.78, Z:-1.31 [[ 9.94826215e-01 9.12573875e-02 4.46418005e-02 1.97563290e+01] [-9.11545124e-02 9.95827308e-01 -4.33898228e-03 -7.84476684e-01] [-4.48514882e-02 2.47231771e-04 9.98993635e-01 -1.30988943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.79, Z:-1.31 [[ 9.94435821e-01 9.53586114e-02 4.47675400e-02 1.97894972e+01] [-9.52588654e-02 9.95442982e-01 -4.36102564e-03 -7.88861063e-01] [-4.49793949e-02 7.22550482e-05 9.98987912e-01 -1.31160198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.79, Z:-1.31 [[ 9.94338754e-01 9.64186462e-02 4.46529661e-02 1.98221917e+01] [-9.63203793e-02 9.95340868e-01 -4.35207477e-03 -7.93106573e-01] [-4.48645432e-02 2.64459725e-05 9.98993079e-01 -1.31330342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.80, Z:-1.32 [[ 9.94296115e-01 9.67924715e-02 4.47934524e-02 1.98549607e+01] [-9.66935675e-02 9.95304585e-01 -4.37457045e-03 -7.98035305e-01] [-4.50065540e-02 1.83796917e-05 9.98986691e-01 -1.31553708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.80, Z:-1.32 [[ 9.94297497e-01 9.67559095e-02 4.48417482e-02 1.98860742e+01] [-9.66563076e-02 9.95308140e-01 -4.38920485e-03 -8.03134731e-01] [-4.50560385e-02 2.99375856e-05 9.98984461e-01 -1.31782691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.81, Z:-1.32 [[ 9.94490326e-01 9.55450161e-02 4.31293637e-02 1.99182065e+01] [-9.54515628e-02 9.95425106e-01 -4.22570617e-03 -8.10069343e-01] [-4.33357967e-02 8.56587367e-05 9.99060559e-01 -1.32113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.81, Z:-1.32 [[ 9.94584215e-01 9.49174571e-02 4.23428297e-02 1.99504525e+01] [-9.48264931e-02 9.95485139e-01 -4.15618890e-03 -8.14814943e-01] [-4.25461526e-02 1.18457829e-04 9.99094495e-01 -1.32338230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.82, Z:-1.33 [[ 9.94652898e-01 9.43916815e-02 4.19025445e-02 1.99819107e+01] [-9.43017381e-02 9.95535127e-01 -4.12236264e-03 -8.21393275e-01] [-4.21045717e-02 1.48837171e-04 9.99113198e-01 -1.32568399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.83, Z:-1.33 [[ 9.94630799e-01 9.46608365e-02 4.18198584e-02 2.00147390e+01] [-9.45713182e-02 9.95509571e-01 -4.11821054e-03 -8.26872744e-01] [-4.20219026e-02 1.41139898e-04 9.99116680e-01 -1.32783468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.83, Z:-1.33 [[ 9.94616783e-01 9.50674045e-02 4.12267416e-02 2.00462376e+01] [-9.49803811e-02 9.95470829e-01 -4.06888601e-03 -8.32296878e-01] [-4.14268371e-02 1.31250685e-04 9.99141531e-01 -1.32926709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.84, Z:-1.33 [[ 9.94464589e-01 9.71412711e-02 4.00469059e-02 2.00782858e+01] [-9.70607105e-02 9.95270602e-01 -3.95565583e-03 -8.39258428e-01] [-4.02417656e-02 4.67785068e-05 9.99189971e-01 -1.33141067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.84, Z:-1.33 [[ 9.94348247e-01 9.86263722e-02 3.92988733e-02 2.01102331e+01] [-9.85496441e-02 9.95124534e-01 -3.88959811e-03 -8.43607964e-01] [-3.94908899e-02 -5.27491047e-06 9.99219931e-01 -1.33374107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.85, Z:-1.34 [[ 9.94212433e-01 1.00176536e-01 3.88110788e-02 2.01428890e+01] [-1.00102616e-01 9.94969677e-01 -3.84813133e-03 -8.47727774e-01] [-3.90013390e-02 -5.92305119e-05 9.99239157e-01 -1.33554572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.85, Z:-1.34 [[ 9.94049143e-01 1.01568270e-01 3.93724307e-02 2.01748325e+01] [-1.01492961e-01 9.94828566e-01 -3.91201241e-03 -8.51872120e-01] [-3.95661551e-02 -1.07291988e-04 9.99216947e-01 -1.33743444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.86, Z:-1.34 [[ 9.93776420e-01 1.03415571e-01 4.13962208e-02 2.02076054e+01] [-1.03333583e-01 9.94638219e-01 -4.12118720e-03 -8.57145620e-01] [-4.16004582e-02 -1.82081152e-04 9.99134310e-01 -1.33885194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.86, Z:-1.34 [[ 9.93720292e-01 1.03822120e-01 4.17246708e-02 2.02389033e+01] [-1.03738796e-01 9.94595863e-01 -4.16309711e-03 -8.62042633e-01] [-4.19314065e-02 -1.91513054e-04 9.99120473e-01 -1.34080456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.87, Z:-1.34 [[ 9.93677999e-01 1.04051928e-01 4.21572073e-02 2.02716877e+01] [-1.03966906e-01 9.94571846e-01 -4.21020580e-03 -8.68355947e-01] [-4.23664515e-02 -1.99365538e-04 9.99102119e-01 -1.34231660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.87, Z:-1.34 [[ 9.93660610e-01 1.04342283e-01 4.18483011e-02 2.03042354e+01] [-1.04258440e-01 9.94541425e-01 -4.18697973e-03 -8.72598116e-01] [-4.20567481e-02 -2.02601762e-04 9.99115203e-01 -1.34395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.88, Z:-1.35 [[ 9.93644669e-01 1.04642536e-01 4.14754366e-02 2.03370340e+01] [-1.04560103e-01 9.94509878e-01 -4.15779407e-03 -8.76179751e-01] [-4.16828135e-02 -2.05306031e-04 9.99130873e-01 -1.34573831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.88, Z:-1.35 [[ 9.93572693e-01 1.05211313e-01 4.17598351e-02 2.03695806e+01] [-1.05127894e-01 9.94449863e-01 -4.19472355e-03 -8.80587997e-01] [-4.19693947e-02 -2.22360731e-04 9.99118872e-01 -1.34809812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.89, Z:-1.35 [[ 9.93529254e-01 1.05453599e-01 4.21800941e-02 2.04015651e+01] [-1.05368341e-01 9.94424199e-01 -4.24564174e-03 -8.85420782e-01] [-4.23926245e-02 -2.26277266e-04 9.99101003e-01 -1.35017052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.89, Z:-1.35 [[ 9.93572396e-01 1.04984178e-01 4.23345805e-02 2.04326400e+01] [-1.04897529e-01 9.94473872e-01 -4.26914958e-03 -8.91466414e-01] [-4.25488274e-02 -1.99083717e-04 9.99094369e-01 -1.35191324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.90, Z:-1.35 [[ 9.93620522e-01 1.04397422e-01 4.26548478e-02 2.04639645e+01] [-1.04308576e-01 9.94535646e-01 -4.30936796e-03 -8.96564864e-01] [-4.28716535e-02 -1.67389980e-04 9.99080574e-01 -1.35425808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.90, Z:-1.36 [[ 9.93669720e-01 1.03851439e-01 4.28411740e-02 2.04968455e+01] [-1.03760989e-01 9.94592811e-01 -4.33558471e-03 -9.02456377e-01] [-4.30597804e-02 -1.37103340e-04 9.99072488e-01 -1.35613464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.91, Z:-1.36 [[ 9.93718471e-01 1.03607463e-01 4.22976936e-02 2.05293166e+01] [-1.03518724e-01 9.94618258e-01 -4.28879713e-03 -9.07589327e-01] [-4.25144098e-02 -1.16746355e-04 9.99095847e-01 -1.35788044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.91, Z:-1.36 [[ 9.93710850e-01 1.03840613e-01 4.19031566e-02 2.05609708e+01] [-1.03753378e-01 9.94593944e-01 -4.25714101e-03 -9.11604709e-01] [-4.21186899e-02 -1.17226830e-04 9.99112607e-01 -1.35980202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.92, Z:-1.36 [[ 9.93653723e-01 1.04687969e-01 4.11425289e-02 2.05936951e+01] [-1.04604305e-01 9.94505107e-01 -4.18697213e-03 -9.15865033e-01] [-4.13547808e-02 -1.43285195e-04 9.99144515e-01 -1.36310889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.92, Z:-1.36 [[ 9.93586911e-01 1.05332504e-01 4.11109990e-02 2.06249944e+01] [-1.05249173e-01 9.94437045e-01 -4.19216264e-03 -9.20805639e-01] [-4.13238713e-02 -1.61620705e-04 9.99145791e-01 -1.36403289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.93, Z:-1.37 [[ 9.93430644e-01 1.06859741e-01 4.09457066e-02 2.06566476e+01] [-1.06778061e-01 9.94274081e-01 -4.18293611e-03 -9.26746053e-01] [-4.11582423e-02 -2.16646234e-04 9.99152617e-01 -1.36558356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.93, Z:-1.37 [[ 9.93352713e-01 1.07858521e-01 4.02110338e-02 2.06890244e+01] [-1.07780290e-01 9.94166223e-01 -4.11465866e-03 -9.31335319e-01] [-4.04202526e-02 -2.46649552e-04 9.99182737e-01 -1.36724586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.94, Z:-1.37 [[ 9.93285273e-01 1.08636332e-01 3.97808298e-02 2.07214622e+01] [-1.08560082e-01 9.94081524e-01 -4.07833031e-03 -9.35897364e-01] [-3.99884427e-02 -2.67664709e-04 9.99200106e-01 -1.36904088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.94, Z:-1.37 [[ 9.93047496e-01 1.10600294e-01 4.03019300e-02 2.07539304e+01] [-1.10523320e-01 9.93864909e-01 -4.13986460e-03 -9.39192879e-01] [-4.05125442e-02 -3.43220941e-04 9.99178971e-01 -1.37088169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.94, Z:-1.37 [[ 9.92906748e-01 1.11830144e-01 4.03758367e-02 2.07854535e+01] [-1.11753570e-01 9.93727261e-01 -4.15568350e-03 -9.42402244e-01] [-4.05873003e-02 -3.85937706e-04 9.99175922e-01 -1.37260198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.95, Z:-1.37 [[ 9.92774874e-01 1.13069687e-01 4.01658442e-02 2.08181999e+01] [-1.12994634e-01 9.93586968e-01 -4.14118555e-03 -9.46592876e-01] [-4.03765020e-02 -4.27259888e-04 9.99184445e-01 -1.37486349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.95, Z:-1.38 [[ 9.92510645e-01 1.14951137e-01 4.13383133e-02 2.08495672e+01] [-1.14872906e-01 9.93371016e-01 -4.27076800e-03 -9.50109313e-01] [-4.15552119e-02 -5.09869471e-04 9.99136079e-01 -1.37633944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.95, Z:-1.38 [[ 9.92430059e-01 1.15508646e-01 4.17172680e-02 2.08819310e+01] [-1.15429142e-01 9.93306333e-01 -4.31760743e-03 -9.53065327e-01] [-4.19367475e-02 -5.30465070e-04 9.99120127e-01 -1.37800648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.37264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.96, Z:-1.38 [[ 9.92383628e-01 1.15768876e-01 4.20987283e-02 2.09142835e+01] [-1.15687803e-01 9.93276033e-01 -4.36517358e-03 -9.55875270e-01] [-4.23210090e-02 -5.38382607e-04 9.99103920e-01 -1.38200022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.96, Z:-1.38 [[ 9.92526520e-01 1.14464015e-01 4.22977196e-02 2.09474920e+01] [-1.14380645e-01 9.93427281e-01 -4.39389707e-03 -9.59364247e-01] [-4.25226516e-02 -4.76981090e-04 9.99095389e-01 -1.38194492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.96, Z:-1.38 [[ 9.92598132e-01 1.13736804e-01 4.25780091e-02 2.09793926e+01] [-1.13651279e-01 9.93510818e-01 -4.43181405e-03 -9.63005724e-01] [-4.28057731e-02 -4.40034839e-04 9.99083316e-01 -1.38377079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.97, Z:-1.39 [[ 9.92693027e-01 1.12834485e-01 4.27660204e-02 2.10109650e+01] [-1.12747014e-01 9.93613719e-01 -4.45956416e-03 -9.66441502e-01] [-4.29960972e-02 -3.94762838e-04 9.99075162e-01 -1.38584649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.97, Z:-1.39 [[ 9.92784923e-01 1.11716235e-01 4.35612134e-02 2.10441766e+01] [-1.11624068e-01 9.93740089e-01 -4.55014517e-03 -9.69616147e-01] [-4.37968491e-02 -3.45164329e-04 9.99040398e-01 -1.38762872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522640000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.97, Z:-1.39 [[ 9.92800613e-01 1.11740704e-01 4.31388244e-02 2.10765436e+01] [-1.11649991e-01 9.93737341e-01 -4.51403510e-03 -9.72941312e-01] [-4.33730621e-02 -3.34912556e-04 9.99058890e-01 -1.38901617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.98, Z:-1.39 [[ 9.92784084e-01 1.11830888e-01 4.32852793e-02 2.11082433e+01] [-1.11739261e-01 9.93727197e-01 -4.53814264e-03 -9.76423640e-01] [-4.35212638e-02 -3.31269343e-04 9.99052446e-01 -1.39117240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.98, Z:-1.39 [[ 9.92799489e-01 1.11611457e-01 4.34977898e-02 2.11407538e+01] [-1.11518375e-01 9.93751872e-01 -4.56826942e-03 -9.79890897e-01] [-4.37358813e-02 -3.15427273e-04 9.99043079e-01 -1.39293515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.98, Z:-1.40 [[ 9.92870468e-01 1.10962179e-01 4.35388272e-02 2.11720191e+01] [-1.10867910e-01 9.93824591e-01 -4.58140108e-03 -9.83527128e-01] [-4.37783194e-02 -2.78320940e-04 9.99041231e-01 -1.39514337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.99, Z:-1.40 [[ 9.92971223e-01 1.09998026e-01 4.36873570e-02 2.12042580e+01] [-1.09901831e-01 9.93931779e-01 -4.60494496e-03 -9.87883899e-01] [-4.39287874e-02 -2.28742715e-04 9.99034639e-01 -1.39721889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.99, Z:-1.40 [[ 9.93290232e-01 1.07091085e-01 4.36579234e-02 2.12358549e+01] [-1.06991824e-01 9.94249210e-01 -4.61068368e-03 -9.94067338e-01] [-4.39006189e-02 -9.12937828e-05 9.99035899e-01 -1.39923933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.00, Z:-1.40 [[ 9.93454123e-01 1.05767220e-01 4.31532127e-02 2.12680676e+01] [-1.05668663e-01 9.94390916e-01 -4.56499191e-03 -9.98566976e-01] [-4.33939893e-02 -2.48322401e-05 9.99058037e-01 -1.40107782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.00, Z:-1.40 [[ 9.93572083e-01 1.04758410e-01 4.28974556e-02 2.13006401e+01] [-1.04659714e-01 9.94497700e-01 -4.54639266e-03 -1.00223895e+00] [-4.31376938e-02 2.75334042e-05 9.99069136e-01 -1.40300296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.01, Z:-1.40 [[ 9.93563010e-01 1.04844866e-01 4.28963766e-02 2.13338924e+01] [-1.04745811e-01 9.94488589e-01 -4.55654854e-03 -1.00590390e+00] [-4.31376877e-02 3.40023088e-05 9.99069136e-01 -1.40496387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.01, Z:-1.41 [[ 9.93697219e-01 1.03365818e-01 4.33744678e-02 2.13651628e+01] [-1.03263029e-01 9.94643402e-01 -4.60972393e-03 -1.01074307e+00] [-4.36186161e-02 1.01690906e-04 9.99048250e-01 -1.40672558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.02, Z:-1.41 [[ 9.93685145e-01 1.03470014e-01 4.34026420e-02 2.13969967e+01] [-1.03366836e-01 9.94632568e-01 -4.62084210e-03 -1.01579648e+00] [-4.36477999e-02 1.05268367e-04 9.99046975e-01 -1.40881154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.02, Z:-1.41 [[ 9.93594695e-01 1.04524479e-01 4.29443284e-02 2.14298873e+01] [-1.04424123e-01 9.94522312e-01 -4.57970094e-03 -1.02220952e+00] [-4.31877836e-02 6.59427473e-05 9.99066970e-01 -1.41115782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.03, Z:-1.41 [[ 9.93468862e-01 1.05712804e-01 4.29467566e-02 2.14629125e+01] [-1.05613193e-01 9.94396703e-01 -4.58812728e-03 -1.02765409e+00] [-4.31911370e-02 2.24174977e-05 9.99066827e-01 -1.41342467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.03, Z:-1.42 [[ 9.93315318e-01 1.07048904e-01 4.31880852e-02 2.14948401e+01] [-1.06949050e-01 9.94253756e-01 -4.62268889e-03 -1.03369550e+00] [-4.34347697e-02 -2.71370211e-05 9.99056265e-01 -1.41545500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.04, Z:-1.42 [[ 9.93014392e-01 1.09701726e-01 4.34505374e-02 2.15267533e+01] [-1.09602837e-01 9.93964543e-01 -4.65888918e-03 -1.04005199e+00] [-4.36993817e-02 -1.35958151e-04 9.99044716e-01 -1.41671480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.04, Z:-1.42 [[ 9.92832937e-01 1.11310010e-01 4.35067948e-02 2.15594484e+01] [-1.11212073e-01 9.93785712e-01 -4.67256303e-03 -1.04376089e+00] [-4.37565341e-02 -1.99406379e-04 9.99042204e-01 -1.41884023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.05, Z:-1.42 [[ 9.92655848e-01 1.13154247e-01 4.27841433e-02 2.15925963e+01] [-1.13060840e-01 9.93577398e-01 -4.60445264e-03 -1.04803026e+00] [-4.30303711e-02 -2.66574365e-04 9.99073729e-01 -1.42105810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.05, Z:-1.42 [[ 9.92172514e-01 1.17566150e-01 4.20939654e-02 2.16237648e+01] [-1.17479618e-01 9.93064952e-01 -4.53213616e-03 -1.05398735e+00] [-4.23348676e-02 -4.48522042e-04 9.99103377e-01 -1.42316769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.06, Z:-1.42 [[ 9.91805993e-01 1.20549998e-01 4.22914796e-02 2.16561031e+01] [-1.20465036e-01 9.92707093e-01 -4.56105418e-03 -1.05774092e+00] [-4.25328868e-02 -5.70963732e-04 9.99094904e-01 -1.42499174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.06, Z:-1.43 [[ 9.91430449e-01 1.23512895e-01 4.25467849e-02 2.16884170e+01] [-1.23429262e-01 9.92342725e-01 -4.59714143e-03 -1.06085385e+00] [-4.27887987e-02 -6.93772282e-04 9.99083899e-01 -1.42655304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.07, Z:-1.43 [[ 9.90747787e-01 1.28753579e-01 4.29108172e-02 2.17214424e+01] [-1.28673085e-01 9.91676192e-01 -4.64416440e-03 -1.06582708e+00] [-4.31515886e-02 -9.20271627e-04 9.99068113e-01 -1.42814509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.07, Z:-1.43 [[ 9.90429985e-01 1.31006427e-01 4.34253465e-02 2.17540127e+01] [-1.30925784e-01 9.91380992e-01 -4.70831298e-03 -1.07023659e+00] [-4.36678824e-02 -1.02224316e-03 9.99045580e-01 -1.42992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.07, Z:-1.43 [[ 9.90040941e-01 1.33905855e-01 4.34529406e-02 2.17871307e+01] [-1.33827521e-01 9.90993399e-01 -4.71990411e-03 -1.07066981e+00] [-4.36936001e-02 -1.14230101e-03 9.99044326e-01 -1.43182104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.07, Z:-1.43 [[ 9.89951598e-01 1.34346240e-01 4.41239330e-02 2.18188093e+01] [-1.34265498e-01 9.90933760e-01 -4.80192956e-03 -1.07267881e+00] [-4.43690160e-02 -1.17064401e-03 9.99014524e-01 -1.43426190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.08, Z:-1.44 [[ 9.89955443e-01 1.34154694e-01 4.46177020e-02 2.18509912e+01] [-1.34071562e-01 9.90959715e-01 -4.86410517e-03 -1.07567910e+00] [-4.48668878e-02 -1.16671760e-03 9.98992293e-01 -1.43613419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.08, Z:-1.44 [[ 9.90067389e-01 1.33287428e-01 4.47328318e-02 2.18829659e+01] [-1.33202609e-01 9.91076789e-01 -4.88492432e-03 -1.07926657e+00] [-4.49847703e-02 -1.12212564e-03 9.98987043e-01 -1.43818160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.08, Z:-1.44 [[ 9.90521919e-01 1.30199667e-01 4.37535786e-02 2.19161634e+01] [-1.30115204e-01 9.91487336e-01 -4.78495215e-03 -1.08333730e+00] [-4.40041182e-02 -9.53405830e-04 9.99030895e-01 -1.44040843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.09, Z:-1.44 [[ 9.90716399e-01 1.28598714e-01 4.40838600e-02 2.19475201e+01] [-1.28510988e-01 9.91696323e-01 -4.83007179e-03 -1.08630902e+00] [-4.43389429e-02 -8.80029088e-04 9.99016158e-01 -1.44216058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.09, Z:-1.44 [[ 9.90904454e-01 1.27059941e-01 4.43185588e-02 2.19798878e+01] [-1.26969368e-01 9.91894712e-01 -4.86414419e-03 -1.08857740e+00] [-4.45773820e-02 -8.07197255e-04 9.99005608e-01 -1.44364920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.09, Z:-1.45 [[ 9.91065560e-01 1.25601654e-01 4.48695830e-02 2.20133339e+01] [-1.25506959e-01 9.92080477e-01 -4.93261096e-03 -1.09063617e+00] [-4.51337814e-02 -7.42904061e-04 9.98980675e-01 -1.44542279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.09, Z:-1.45 [[ 9.91388649e-01 1.23136579e-01 4.45637595e-02 2.20459683e+01] [-1.23040304e-01 9.92389541e-01 -4.90739354e-03 -1.09102840e+00] [-4.48288885e-02 -6.18004256e-04 9.98994489e-01 -1.44763925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.09, Z:-1.45 [[ 9.91526945e-01 1.22122664e-01 4.42760916e-02 2.20776113e+01] [-1.22026230e-01 9.92514857e-01 -4.88443218e-03 -1.09353104e+00] [-4.45411786e-02 -5.59798421e-04 9.99007392e-01 -1.44967111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.10, Z:-1.45 [[ 9.91847967e-01 1.19687431e-01 4.37324743e-02 2.21101518e+01] [-1.19590653e-01 9.92811527e-01 -4.83200778e-03 -1.09579368e+00] [-4.39964352e-02 -4.37378049e-04 9.99031592e-01 -1.45211764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.10, Z:-1.45 [[ 9.92039211e-01 1.18111748e-01 4.36785825e-02 2.21417615e+01] [-1.18013292e-01 9.93000245e-01 -4.83489212e-03 -1.09913570e+00] [-4.39439006e-02 -3.58250757e-04 9.99033936e-01 -1.45455932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.10, Z:-1.46 [[ 9.92252623e-01 1.16300085e-01 4.36923514e-02 2.21734525e+01] [-1.16199445e-01 9.93214084e-01 -4.84475171e-03 -1.10215623e+00] [-4.39593038e-02 -2.69809397e-04 9.99033286e-01 -1.45605698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.10, Z:-1.46 [[ 9.92690048e-01 1.12127543e-01 4.46529059e-02 2.22068025e+01] [-1.12017879e-01 9.93693820e-01 -4.95852413e-03 -1.10433261e+00] [-4.49273038e-02 -7.96462604e-05 9.98990256e-01 -1.45773048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.11, Z:-1.46 [[ 9.92875628e-01 1.10167156e-01 4.54002739e-02 2.22381049e+01] [-1.10051314e-01 9.93913073e-01 -5.05084973e-03 -1.10808777e+00] [-4.56803635e-02 1.85058205e-05 9.98956107e-01 -1.45975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.11, Z:-1.46 [[ 9.93074777e-01 1.08227733e-01 4.57082573e-02 2.22697557e+01] [-1.08107868e-01 9.94126121e-01 -5.09360745e-03 -1.11223280e+00] [-4.59910421e-02 1.16910852e-04 9.98941845e-01 -1.46152867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.12, Z:-1.46 [[ 9.93391884e-01 1.05383251e-01 4.54635614e-02 2.23024942e+01] [-1.05261337e-01 9.94431649e-01 -5.07400987e-03 -1.11514207e+00] [-4.57451200e-02 2.54924974e-04 9.98953112e-01 -1.46362503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.12, Z:-1.47 [[ 9.93487543e-01 1.04483248e-01 4.54505541e-02 2.23350570e+01] [-1.04360054e-01 9.94526600e-01 -5.08147342e-03 -1.11842758e+00] [-4.57327139e-02 3.05158283e-04 9.98953665e-01 -1.46543916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.12, Z:-1.47 [[ 9.93542592e-01 1.04021518e-01 4.53060928e-02 2.23679784e+01] [-1.03898222e-01 9.94574991e-01 -5.07418491e-03 -1.12227550e+00] [-4.55881312e-02 3.34196339e-04 9.98960265e-01 -1.46676641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.13, Z:-1.47 [[ 9.93545977e-01 1.03862171e-01 4.55964995e-02 2.23995574e+01] [-1.03736693e-01 9.94591637e-01 -5.11602074e-03 -1.12568063e+00] [-4.58812581e-02 3.52971744e-04 9.98946838e-01 -1.46894823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.13, Z:-1.47 [[ 9.93503585e-01 1.04379836e-01 4.53373570e-02 2.24327061e+01] [-1.04255948e-01 9.94537449e-01 -5.09508315e-03 -1.12897919e+00] [-4.56215233e-02 3.35294218e-04 9.98958740e-01 -1.47106295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.13, Z:-1.47 [[ 9.93426384e-01 1.05226523e-01 4.50710429e-02 2.24641534e+01] [-1.05104546e-01 9.94448232e-01 -5.07423304e-03 -1.13252971e+00] [-4.53547628e-02 3.03705465e-04 9.98970897e-01 -1.47352175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.14, Z:-1.48 [[ 9.93345019e-01 1.06217621e-01 4.45363913e-02 2.24971722e+01] [-1.06099160e-01 9.94342872e-01 -5.02200039e-03 -1.13596538e+00] [-4.48178682e-02 2.63305349e-04 9.98995140e-01 -1.47589421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.14, Z:-1.48 [[ 9.93098335e-01 1.08624591e-01 4.42311675e-02 2.25292751e+01] [-1.08509701e-01 9.94082829e-01 -4.99732200e-03 -1.13798578e+00] [-4.45122762e-02 1.63321406e-04 9.99008824e-01 -1.47814487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.14, Z:-1.48 [[ 9.92929813e-01 1.10022973e-01 4.45570563e-02 2.25612784e+01] [-1.09907577e-01 9.93929039e-01 -5.03888241e-03 -1.14149962e+00] [-4.48409450e-02 1.06098460e-04 9.98994133e-01 -1.48067198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.15, Z:-1.48 [[ 9.92843627e-01 1.10991105e-01 4.40738839e-02 2.25930489e+01] [-1.10878759e-01 9.93821397e-01 -4.99312213e-03 -1.14541729e+00] [-4.43557610e-02 7.05319460e-05 9.99015796e-01 -1.48265308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.15, Z:-1.49 [[ 9.92717096e-01 1.12316891e-01 4.35624166e-02 2.26256326e+01] [-1.12208237e-01 9.93672439e-01 -4.93920695e-03 -1.14769849e+00] [-4.38415291e-02 1.51731861e-05 9.99038498e-01 -1.48537365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.15, Z:-1.49 [[ 9.92708896e-01 1.12214563e-01 4.40106696e-02 2.26575876e+01] [-1.12103165e-01 9.93684000e-01 -4.99894314e-03 -1.15033297e+00] [-4.42936524e-02 2.87599726e-05 9.99018554e-01 -1.48701347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:-1.15, Z:-1.49 [[ 9.92783360e-01 1.10939222e-01 4.55377733e-02 2.26904940e+01] [-1.10818216e-01 9.93827188e-01 -5.18106007e-03 -1.15407568e+00] [-4.58314599e-02 9.72554094e-05 9.98949182e-01 -1.48955942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.16, Z:-1.49 [[ 9.92920060e-01 1.09885994e-01 4.51090054e-02 2.27231767e+01] [-1.09765794e-01 9.93944186e-01 -5.14057048e-03 -1.15810114e+00] [-4.54007104e-02 1.52749756e-04 9.98968844e-01 -1.49162062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.16, Z:-1.49 [[ 9.93069040e-01 1.08725203e-01 4.46397959e-02 2.27544177e+01] [-1.08605939e-01 9.94071821e-01 -5.09557127e-03 -1.16256797e+00] [-4.49291802e-02 2.12107130e-04 9.98990152e-01 -1.49369731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.17, Z:-1.50 [[ 9.93210431e-01 1.07493470e-01 4.44768925e-02 2.27872515e+01] [-1.07373500e-01 9.94205753e-01 -5.08457090e-03 -1.16787164e+00] [-4.47657405e-02 2.74409249e-04 9.98997474e-01 -1.49627100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.17, Z:-1.50 [[ 9.93525593e-01 1.04528859e-01 4.45040785e-02 2.28197847e+01] [-1.04405391e-01 9.94521766e-01 -5.09611802e-03 -1.17398077e+00] [-4.47929662e-02 4.16657978e-04 9.98996204e-01 -1.49863806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:-1.18, Z:-1.50 [[ 9.93670157e-01 1.03317192e-01 4.41041516e-02 2.28515711e+01] [-1.03194353e-01 9.94648346e-01 -5.05905771e-03 -1.17841738e+00] [-4.43908091e-02 4.75735284e-04 9.99014129e-01 -1.50105476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:-1.19, Z:-1.50 [[ 9.93997771e-01 1.00465981e-01 4.33014818e-02 2.28837197e+01] [-1.00344536e-01 9.94940313e-01 -4.97463062e-03 -1.18524862e+00] [-4.35821710e-02 5.99704628e-04 9.99049666e-01 -1.50372778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.19, Z:-1.51 [[ 9.94069995e-01 9.97369840e-02 4.33287425e-02 2.29164770e+01] [-9.96143357e-02 9.95013630e-01 -4.98598270e-03 -1.19087138e+00] [-4.36099763e-02 6.40251887e-04 9.99048427e-01 -1.50574824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.20, Z:-1.51 [[ 9.94098749e-01 9.94589020e-02 4.33082366e-02 2.29494342e+01] [-9.93357504e-02 9.95041452e-01 -4.99177570e-03 -1.19620045e+00] [-4.35899672e-02 6.60261792e-04 9.99049287e-01 -1.50750679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.20, Z:-1.51 [[ 9.93929627e-01 1.00866502e-01 4.39300009e-02 2.29821837e+01] [-1.00740793e-01 9.94899779e-01 -5.07176342e-03 -1.20233566e+00] [-4.42175192e-02 6.15432824e-04 9.99021738e-01 -1.50832447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.21, Z:-1.51 [[ 9.93665465e-01 1.03061206e-01 4.48032616e-02 2.30138004e+01] [-1.02932256e-01 9.94674871e-01 -5.18185982e-03 -1.20591491e+00] [-4.50987271e-02 5.37334354e-04 9.98982390e-01 -1.50952705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.21, Z:-1.51 [[ 9.93347673e-01 1.05770341e-01 4.55305919e-02 2.30464102e+01] [-1.05639623e-01 9.94390492e-01 -5.27442030e-03 -1.20875971e+00] [-4.58330649e-02 4.29498550e-04 9.98949021e-01 -1.51114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.21, Z:-1.51 [[ 9.92673083e-01 1.12021330e-01 4.52920841e-02 2.30788757e+01] [-1.11898010e-01 9.93705791e-01 -5.25703708e-03 -1.21190440e+00] [-4.55959065e-02 1.50425137e-04 9.98959954e-01 -1.51327808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.22, Z:-1.52 [[ 9.92303897e-01 1.15403220e-01 4.48895663e-02 2.31109012e+01] [-1.15285426e-01 9.93318729e-01 -5.21284098e-03 -1.21592101e+00] [-4.51912255e-02 -2.39036470e-06 9.98978355e-01 -1.51528725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.22, Z:-1.52 [[ 9.91949434e-01 1.18458972e-01 4.47637500e-02 2.31434288e+01] [-1.18344584e-01 9.92958939e-01 -5.20626670e-03 -1.21959615e+00] [-4.50652947e-02 -1.33194060e-04 9.98984035e-01 -1.51750696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.22, Z:-1.52 [[ 9.91393950e-01 1.22662370e-01 4.57381489e-02 2.31760554e+01] [-1.22546985e-01 9.92448406e-01 -5.32890487e-03 -1.22261805e+00] [-4.60464091e-02 -3.22028185e-04 9.98939250e-01 -1.52036750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.23, Z:-1.52 [[ 9.91260498e-01 1.23688683e-01 4.58664923e-02 2.32081542e+01] [-1.23573317e-01 9.92321006e-01 -5.35316595e-03 -1.22654044e+00] [-4.61764098e-02 -3.61492618e-04 9.98933235e-01 -1.52253340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.23, Z:-1.52 [[ 9.91231104e-01 1.23873458e-01 4.60028805e-02 2.32407096e+01] [-1.23757211e-01 9.92297957e-01 -5.37753816e-03 -1.23093236e+00] [-4.63146986e-02 -3.62805106e-04 9.98926833e-01 -1.52472703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.24, Z:-1.53 [[ 9.91483958e-01 1.21431780e-01 4.70519229e-02 2.32731516e+01] [-1.21306965e-01 9.92599750e-01 -5.50975558e-03 -1.23525492e+00] [-4.73727863e-02 -2.44891710e-04 9.98877249e-01 -1.52680551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.24, Z:-1.53 [[ 9.91666060e-01 1.19676864e-01 4.77061240e-02 2.33062849e+01] [-1.19546065e-01 9.92812885e-01 -5.59588575e-03 -1.23967908e+00] [-4.80329527e-02 -1.53829418e-04 9.98845740e-01 -1.52882909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.24, Z:-1.53 [[ 9.91890540e-01 1.17790368e-01 4.77345383e-02 2.33376520e+01] [-1.17656773e-01 9.93038482e-01 -5.60869132e-03 -1.24428507e+00] [-4.80628832e-02 -5.30838754e-05 9.98844310e-01 -1.53101957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.25, Z:-1.53 [[ 9.92266335e-01 1.15093673e-01 4.64861952e-02 2.33695362e+01] [-1.14963642e-01 9.93354639e-01 -5.47006721e-03 -1.25155041e+00] [-4.68068478e-02 8.35412444e-05 9.98903955e-01 -1.53393890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.26, Z:-1.54 [[ 9.92341326e-01 1.14729220e-01 4.57809768e-02 2.34017704e+01] [-1.14602318e-01 9.93396796e-01 -5.39577381e-03 -1.25695496e+00] [-4.60977286e-02 1.07843284e-04 9.98936929e-01 -1.53599463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.26, Z:-1.54 [[ 9.92331706e-01 1.14812874e-01 4.57797869e-02 2.34349764e+01] [-1.14685596e-01 9.93387130e-01 -5.40584934e-03 -1.26101237e+00] [-4.60977122e-02 1.14113563e-04 9.98936929e-01 -1.53795560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.27, Z:-1.54 [[ 9.92260366e-01 1.15780255e-01 4.48809428e-02 2.34661257e+01] [-1.15658806e-01 9.93274850e-01 -5.30215976e-03 -1.26640766e+00] [-4.51929971e-02 7.02467349e-05 9.98978272e-01 -1.54022722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.27, Z:-1.54 [[ 9.92121356e-01 1.17077027e-01 4.45890660e-02 2.34980997e+01] [-1.16958101e-01 9.93122837e-01 -5.27571876e-03 -1.27052203e+00] [-4.49000852e-02 1.91007568e-05 9.98991482e-01 -1.54216968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.28, Z:-1.54 [[ 9.91938463e-01 1.18849588e-01 4.39643160e-02 2.35303872e+01] [-1.18735380e-01 9.92912268e-01 -5.20930600e-03 -1.27542455e+00] [-4.42718326e-02 -5.28087809e-05 9.99019520e-01 -1.54473775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.28, Z:-1.55 [[ 9.91704469e-01 1.20762754e-01 4.40295694e-02 2.35633256e+01] [-1.20649722e-01 9.92681389e-01 -5.22535428e-03 -1.27912906e+00] [-4.43383623e-02 -1.30148123e-04 9.99016563e-01 -1.54592762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.28, Z:-1.55 [[ 9.91060880e-01 1.25604896e-01 4.49637895e-02 2.35960055e+01] [-1.25491602e-01 9.92080284e-01 -5.34483682e-03 -1.28237628e+00] [-4.52790268e-02 -3.45519275e-04 9.98974319e-01 -1.54728945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.29, Z:-1.55 [[ 9.90662278e-01 1.28325835e-01 4.60513915e-02 2.36273937e+01] [-1.28209469e-01 9.91731949e-01 -5.48398885e-03 -1.28623032e+00] [-4.63743736e-02 -4.71443566e-04 9.98924019e-01 -1.54868138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.29, Z:-1.55 [[ 9.90290615e-01 1.30915460e-01 4.67508197e-02 2.36596388e+01] [-1.30797982e-01 9.91393358e-01 -5.57644879e-03 -1.28973114e+00] [-4.70784955e-02 -5.92607991e-04 9.98891017e-01 -1.55014136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.29, Z:-1.55 [[ 9.89700496e-01 1.34974400e-01 4.76952893e-02 2.36916017e+01] [-1.34856401e-01 9.90848769e-01 -5.69807629e-03 -1.29187199e+00] [-4.80279131e-02 -7.92626111e-04 9.98845679e-01 -1.55132415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.29, Z:-1.55 [[ 9.89452913e-01 1.36745645e-01 4.77866320e-02 2.37246558e+01] [-1.36628866e-01 9.90605808e-01 -5.71710751e-03 -1.29491256e+00] [-4.81195048e-02 -8.72224668e-04 9.98841205e-01 -1.55309199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.30, Z:-1.56 [[ 9.89275849e-01 1.37990197e-01 4.78748457e-02 2.37564575e+01] [-1.37873969e-01 9.90433163e-01 -5.73746496e-03 -1.29796206e+00] [-4.82085488e-02 -9.24759459e-04 9.98836864e-01 -1.55502947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.30, Z:-1.56 [[ 9.89081861e-01 1.38952419e-01 4.90845881e-02 2.37893515e+01] [-1.38830957e-01 9.90298567e-01 -5.89186450e-03 -1.30068500e+00] [-4.94270861e-02 -9.86924037e-04 9.98777247e-01 -1.55672131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.30, Z:-1.56 [[ 9.89061730e-01 1.38770269e-01 4.99970695e-02 2.38216504e+01] [-1.38643511e-01 9.90324109e-01 -6.01140338e-03 -1.30304733e+00] [-5.03475073e-02 -9.86120214e-04 9.98731273e-01 -1.55825401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.31, Z:-1.56 [[ 9.89173174e-01 1.37814115e-01 5.04351132e-02 2.38548438e+01] [-1.37683423e-01 9.90457668e-01 -6.07310730e-03 -1.30548936e+00] [-5.07908045e-02 -9.36724219e-04 9.98708875e-01 -1.56012520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.31, Z:-1.56 [[ 9.89672214e-01 1.34287919e-01 5.01563836e-02 2.38865070e+01] [-1.34153607e-01 9.90942080e-01 -6.05012185e-03 -1.30774356e+00] [-5.05145293e-02 -7.41022266e-04 9.98723051e-01 -1.56261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.31, Z:-1.56 [[ 9.89874154e-01 1.32925275e-01 4.97999027e-02 2.39195388e+01] [-1.32790865e-01 9.91125842e-01 -6.01265088e-03 -1.31144672e+00] [-5.01572038e-02 -6.61204455e-04 9.98741116e-01 -1.56474526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.31, Z:-1.57 [[ 9.90054920e-01 1.31838717e-01 4.90897971e-02 2.39515786e+01] [-1.31706300e-01 9.91271006e-01 -5.93663362e-03 -1.31488467e+00] [-4.94439707e-02 -5.87842190e-04 9.98776726e-01 -1.56645693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.32, Z:-1.57 [[ 9.90235909e-01 1.30878281e-01 4.79970774e-02 2.39849027e+01] [-1.30750155e-01 9.91398308e-01 -5.81301476e-03 -1.31708301e+00] [-4.83450187e-02 -5.19369339e-04 9.98830561e-01 -1.56913116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.32, Z:-1.57 [[ 9.90216616e-01 1.31127040e-01 4.77153287e-02 2.40167963e+01] [-1.31000211e-01 9.91365438e-01 -5.78912061e-03 -1.31959569e+00] [-4.80624380e-02 -5.18234728e-04 9.98844199e-01 -1.57042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.32, Z:-1.57 [[ 9.90139542e-01 1.31641477e-01 4.78979013e-02 2.40496093e+01] [-1.31514024e-01 9.91297246e-01 -5.81648832e-03 -1.32232792e+00] [-4.82467488e-02 -5.40110668e-04 9.98835301e-01 -1.57265089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.32, Z:-1.57 [[ 9.90017847e-01 1.32609025e-01 4.77441972e-02 2.40817565e+01] [-1.32483058e-01 9.91168258e-01 -5.80729473e-03 -1.32232908e+00] [-4.80926324e-02 -5.75971793e-04 9.98842714e-01 -1.57463268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.33, Z:-1.58 [[ 9.89817259e-01 1.32850188e-01 5.11138177e-02 2.41126317e+01] [-1.33141228e-01 9.91094368e-01 2.31665404e-03 -1.32928696e+00] [-5.03508490e-02 -9.09842063e-03 9.98690148e-01 -1.57808377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.32, Z:-1.58 [[ 9.89967335e-01 1.33269029e-01 4.69472267e-02 2.41461162e+01] [-1.32738463e-01 9.91048552e-01 -1.42571990e-02 -1.32045521e+00] [-4.84270241e-02 7.88245857e-03 9.98795620e-01 -1.57887813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.33, Z:-1.58 [[ 9.90084835e-01 1.32126197e-01 4.76936946e-02 2.41785441e+01] [-1.31998977e-01 9.91232760e-01 -5.82110452e-03 -1.32673192e+00] [-4.80446730e-02 -5.32131575e-04 9.98845046e-01 -1.58067851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.33, Z:-1.58 [[ 9.90244846e-01 1.30927807e-01 4.76765612e-02 2.42104895e+01] [-1.30798810e-01 9.91391796e-01 -5.82900025e-03 -1.32795889e+00] [-4.80293299e-02 -4.63899999e-04 9.98845818e-01 -1.58259077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.33, Z:-1.58 [[ 9.90590443e-01 1.28102178e-01 4.81706005e-02 2.42429768e+01] [-1.27966900e-01 9.91760922e-01 -5.89459783e-03 -1.33051005e+00] [-4.85288300e-02 -3.25110124e-04 9.98821729e-01 -1.58474193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.33, Z:-1.59 [[ 9.90781568e-01 1.26474979e-01 4.85382700e-02 2.42745645e+01] [-1.26335184e-01 9.91969769e-01 -5.94962875e-03 -1.33461783e+00] [-4.89009756e-02 -2.37308745e-04 9.98803603e-01 -1.58641129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522640000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.34, Z:-1.59 [[ 9.90975603e-01 1.24971974e-01 4.84702035e-02 2.43074996e+01] [-1.24830529e-01 9.92160260e-01 -5.94626651e-03 -1.33863522e+00] [-4.88333263e-02 -1.57956116e-04 9.98806929e-01 -1.58929874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.34, Z:-1.59 [[ 9.91121531e-01 1.23721616e-01 4.86936550e-02 2.43397904e+01] [-1.23576874e-01 9.92316963e-01 -5.98347778e-03 -1.34093398e+00] [-4.90598253e-02 -8.70559989e-05 9.98795838e-01 -1.58923690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.34, Z:-1.59 [[ 9.91348751e-01 1.21828345e-01 4.88416676e-02 2.43729576e+01] [-1.21679982e-01 9.92551185e-01 -6.01064354e-03 -1.34315412e+00] [-4.92101218e-02 1.55907279e-05 9.98788448e-01 -1.59145084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.35, Z:-1.59 [[ 9.91426325e-01 1.21054806e-01 4.91891827e-02 2.44051098e+01] [-1.20902900e-01 9.92645823e-01 -6.06291643e-03 -1.34785993e+00] [-4.95613819e-02 6.38201360e-05 9.98771078e-01 -1.59410385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.35, Z:-1.60 [[ 9.91540649e-01 1.20018814e-01 4.94229363e-02 2.44362172e+01] [-1.19863690e-01 9.92771609e-01 -6.10140807e-03 -1.35272322e+00] [-4.97979718e-02 1.25778577e-04 9.98759303e-01 -1.59614947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.36, Z:-1.60 [[ 9.91982227e-01 1.16806745e-01 4.82436008e-02 2.44687016e+01] [-1.16654735e-01 9.93154621e-01 -5.96419789e-03 -1.35850929e+00] [-4.86100136e-02 2.88533821e-04 9.98817793e-01 -1.59881681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.36, Z:-1.60 [[ 9.92219026e-01 1.15201162e-01 4.72239101e-02 2.44998177e+01] [-1.15053284e-01 9.93342115e-01 -5.84679185e-03 -1.36408258e+00] [-4.75830559e-02 3.68032171e-04 9.98867217e-01 -1.60161138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.37, Z:-1.60 [[ 9.92638249e-01 1.12297712e-01 4.53710327e-02 2.45314573e+01] [-1.12157859e-01 9.93674484e-01 -5.62452778e-03 -1.37351910e+00] [-4.57156591e-02 4.94403540e-04 9.98954370e-01 -1.60459582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.38, Z:-1.61 [[ 9.92772618e-01 1.11327668e-01 4.48182825e-02 2.45634276e+01] [-1.11189827e-01 9.93783607e-01 -5.56458115e-03 -1.38020004e+00] [-4.51591663e-02 5.41026711e-04 9.98979658e-01 -1.60648263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.39, Z:-1.61 [[ 9.92832465e-01 1.10807852e-01 4.47807697e-02 2.45954669e+01] [-1.10669316e-01 9.93841683e-01 -5.56873139e-03 -1.38653339e+00] [-4.51220547e-02 5.72960166e-04 9.98981317e-01 -1.60809081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.39, Z:-1.61 [[ 9.92772740e-01 1.11224980e-01 4.50698475e-02 2.46275463e+01] [-1.11084673e-01 9.93795091e-01 -5.61361722e-03 -1.39265638e+00] [-4.54145677e-02 5.66476893e-04 9.98968066e-01 -1.61005230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.40, Z:-1.61 [[ 9.92343191e-01 1.14827326e-01 4.54937056e-02 2.46592107e+01] [-1.14687721e-01 9.93385380e-01 -5.67566937e-03 -1.40079629e+00] [-4.58445040e-02 4.14642424e-04 9.98948502e-01 -1.61127051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.41, Z:-1.61 [[ 9.91967979e-01 1.17759454e-01 4.61761879e-02 2.46914476e+01] [-1.17618342e-01 9.93042106e-01 -5.77065295e-03 -1.40626198e+00] [-4.65344478e-02 2.93136285e-04 9.98916643e-01 -1.61280450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.41, Z:-1.61 [[ 9.90998117e-01 1.25243938e-01 4.72936444e-02 2.47224945e+01] [-1.25104270e-01 9.92125976e-01 -5.91342895e-03 -1.41387314e+00] [-4.76618743e-02 -5.64399201e-05 9.98863525e-01 -1.61393800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.42, Z:-1.62 [[ 9.90436197e-01 1.29505214e-01 4.75871752e-02 2.47553112e+01] [-1.29368301e-01 9.91578708e-01 -5.95885180e-03 -1.41944538e+00] [-4.79581321e-02 -2.54409479e-04 9.98849314e-01 -1.61522691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.42, Z:-1.62 [[ 9.89815237e-01 1.34005133e-01 4.80460354e-02 2.47869389e+01] [-1.33870401e-01 9.90980527e-01 -6.02577035e-03 -1.42366080e+00] [-4.84201696e-02 -4.67542726e-04 9.98826946e-01 -1.61668452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.43, Z:-1.62 [[ 9.88455402e-01 1.43316522e-01 4.91558023e-02 2.48202012e+01] [-1.43186537e-01 9.89676462e-01 -6.17389149e-03 -1.42664321e+00] [-4.95331611e-02 -9.35832725e-04 9.98772041e-01 -1.61905241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.43, Z:-1.62 [[ 9.87762952e-01 1.47925540e-01 4.94204947e-02 2.48520084e+01] [-1.47799418e-01 9.88997817e-01 -6.21697934e-03 -1.43066269e+00] [-4.97964113e-02 -1.16341850e-03 9.98758712e-01 -1.62081752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.43, Z:-1.62 [[ 9.86546747e-01 1.55753941e-01 4.96611122e-02 2.48849035e+01] [-1.55636024e-01 9.87794658e-01 -6.25634842e-03 -1.43396265e+00] [-5.00294323e-02 -1.55687787e-03 9.98746530e-01 -1.62321742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.44, Z:-1.63 [[ 9.86025874e-01 1.58981415e-01 4.97783646e-02 2.49165730e+01] [-1.58866558e-01 9.87280086e-01 -6.28080954e-03 -1.43650584e+00] [-5.01437201e-02 -1.71507673e-03 9.98740540e-01 -1.62553974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.44, Z:-1.63 [[ 9.85524481e-01 1.61918330e-01 5.02389370e-02 2.49481914e+01] [-1.61804683e-01 9.86802385e-01 -6.34803608e-03 -1.43921672e+00] [-5.06037663e-02 -1.87275030e-03 9.98717053e-01 -1.62748081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.44, Z:-1.63 [[ 9.85171859e-01 1.63934965e-01 5.06135996e-02 2.49792913e+01] [-1.63821787e-01 9.86469158e-01 -6.40484774e-03 -1.44172815e+00] [-5.09787335e-02 -1.98173458e-03 9.98697773e-01 -1.62955822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.44, Z:-1.63 [[ 9.84986478e-01 1.65273930e-01 4.98614791e-02 2.50127351e+01] [-1.65165816e-01 9.86245631e-01 -6.30939555e-03 -1.44276815e+00] [-5.02184445e-02 -2.02074258e-03 9.98736214e-01 -1.63159324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.44, Z:-1.63 [[ 9.84994835e-01 1.65176196e-01 5.00199970e-02 2.50435242e+01] [-1.65066751e-01 9.86262022e-01 -6.33971270e-03 -1.44498850e+00] [-5.03799931e-02 -2.01205411e-03 9.98728095e-01 -1.63396286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.45, Z:-1.64 [[ 9.85132672e-01 1.64314413e-01 5.01437058e-02 2.50745237e+01] [-1.64202851e-01 9.86406061e-01 -6.36450252e-03 -1.44733642e+00] [-5.05078348e-02 -1.96386008e-03 9.98721734e-01 -1.63577376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.45, Z:-1.64 [[ 9.85740496e-01 1.60708003e-01 4.98859924e-02 2.51066301e+01] [-1.60592973e-01 9.87000408e-01 -6.33179615e-03 -1.44847877e+00] [-5.02550652e-02 -1.76983194e-03 9.98734848e-01 -1.63785462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.45, Z:-1.64 [[ 9.86083707e-01 1.58580918e-01 4.99100770e-02 2.51375163e+01] [-1.58462634e-01 9.87344599e-01 -6.34325063e-03 -1.45116003e+00] [-5.02843634e-02 -1.65390614e-03 9.98733572e-01 -1.63994218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.45, Z:-1.64 [[ 9.86462993e-01 1.56020685e-01 5.04807745e-02 2.51696356e+01] [-1.55895936e-01 9.87752598e-01 -6.42354487e-03 -1.45380165e+00] [-5.08647221e-02 -1.53315829e-03 9.98704375e-01 -1.64206173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.46, Z:-1.64 [[ 9.87286000e-01 1.50833972e-01 5.01544413e-02 2.52016859e+01] [-1.50703695e-01 9.88558321e-01 -6.39084892e-03 -1.45505275e+00] [-5.05445474e-02 -1.24886397e-03 9.98721027e-01 -1.64400968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.46, Z:-1.65 [[ 9.87665830e-01 1.48386749e-01 4.99758085e-02 2.52340510e+01] [-1.48253995e-01 9.88928780e-01 -6.37352050e-03 -1.45791999e+00] [-5.03682613e-02 -1.11420484e-03 9.98730092e-01 -1.64615839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.46, Z:-1.65 [[ 9.88495211e-01 1.42780453e-01 4.99095126e-02 2.52669985e+01] [-1.42640431e-01 9.89754047e-01 -6.37451318e-03 -1.45958677e+00] [-5.03082980e-02 -8.17938616e-04 9.98733401e-01 -1.64852736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.46, Z:-1.65 [[ 9.88870158e-01 1.40280904e-01 4.95689184e-02 2.52984178e+01] [-1.40139138e-01 9.90111515e-01 -6.34119295e-03 -1.46247194e+00] [-4.99683051e-02 -6.75929034e-04 9.98750575e-01 -1.65053197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.47, Z:-1.65 [[ 9.89206677e-01 1.38058569e-01 4.90915689e-02 2.53310482e+01] [-1.37916531e-01 9.90423912e-01 -6.28530372e-03 -1.46574286e+00] [-4.94892037e-02 -5.53074448e-04 9.98774505e-01 -1.65251916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.47, Z:-1.65 [[ 9.89495461e-01 1.36073433e-01 4.88134671e-02 2.53634437e+01] [-1.35930112e-01 9.90698655e-01 -6.25929658e-03 -1.46877364e+00] [-4.92111602e-02 -4.41674491e-04 9.98788299e-01 -1.65476944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.47, Z:-1.66 [[ 9.90028271e-01 1.32040487e-01 4.90849460e-02 2.53951884e+01] [-1.31890087e-01 9.91244297e-01 -6.30469192e-03 -1.47214403e+00] [-4.94876474e-02 -2.31994530e-04 9.98774709e-01 -1.65734259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.48, Z:-1.66 [[ 9.90262749e-01 1.30156595e-01 4.93857110e-02 2.54267736e+01] [-1.30001720e-01 9.91493441e-01 -6.34898865e-03 -1.47628316e+00] [-4.97919713e-02 -1.33060431e-04 9.98759602e-01 -1.65914886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.48, Z:-1.66 [[ 9.90252168e-01 1.30237549e-01 4.93844568e-02 2.54599377e+01] [-1.30082289e-01 9.91482811e-01 -6.35872862e-03 -1.48069283e+00] [-4.97919853e-02 -1.27298401e-04 9.98759602e-01 -1.66110985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.48, Z:-1.66 [[ 9.90473044e-01 1.28489391e-01 4.95340880e-02 2.54921719e+01] [-1.28330843e-01 9.91710883e-01 -6.38119351e-03 -1.48484938e+00] [-4.99434098e-02 -3.63511030e-05 9.98752049e-01 -1.66282139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.49, Z:-1.66 [[ 9.90814934e-01 1.25778337e-01 4.96545779e-02 2.55234885e+01] [-1.25615134e-01 9.92058364e-01 -6.40626608e-03 -1.48896510e+00] [-5.00660088e-02 1.10057658e-04 9.98745905e-01 -1.66467447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.49, Z:-1.67 [[ 9.90942288e-01 1.24819511e-01 4.95325332e-02 2.55552032e+01] [-1.24655452e-01 9.92179450e-01 -6.39972720e-03 -1.49388422e+00] [-4.99439724e-02 1.67259994e-04 9.98752007e-01 -1.66707958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.50, Z:-1.67 [[ 9.91024294e-01 1.24252209e-01 4.93177152e-02 2.55878673e+01] [-1.24088619e-01 9.92250648e-01 -6.37698996e-03 -1.49928942e+00] [-4.97278900e-02 1.99984794e-04 9.98762783e-01 -1.66918357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.50, Z:-1.67 [[ 9.91058297e-01 1.23790164e-01 4.97940581e-02 2.56193508e+01] [-1.23622308e-01 9.92308390e-01 -6.44863807e-03 -1.50439832e+00] [-5.02093396e-02 2.35319872e-04 9.98738688e-01 -1.67123837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.51, Z:-1.67 [[ 9.91088868e-01 1.23763753e-01 4.92482424e-02 2.56521644e+01] [-1.23599086e-01 9.92311682e-01 -6.38682187e-03 -1.50856934e+00] [-4.96600633e-02 2.42870303e-04 9.98766148e-01 -1.67292182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.51, Z:-1.68 [[ 9.91140188e-01 1.23635386e-01 4.85326665e-02 2.56833676e+01] [-1.23474828e-01 9.92327681e-01 -6.30404224e-03 -1.51350176e+00] [-4.89397111e-02 2.55626960e-04 9.98801702e-01 -1.67571933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.52, Z:-1.68 [[ 9.91219305e-01 1.23644689e-01 4.68644943e-02 2.57152088e+01] [-1.23494776e-01 9.92326523e-01 -6.09197512e-03 -1.52186020e+00] [-4.72581210e-02 2.50963097e-04 9.98882679e-01 -1.67811548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.53, Z:-1.68 [[ 9.91219642e-01 1.23620573e-01 4.69209385e-02 2.57467377e+01] [-1.23469823e-01 9.92329525e-01 -6.10878344e-03 -1.52715133e+00] [-4.73162039e-02 2.61826151e-04 9.98879927e-01 -1.68017383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.53, Z:-1.68 [[ 9.91246180e-01 1.23378190e-01 4.69982228e-02 2.57796070e+01] [-1.23226262e-01 9.92359684e-01 -6.12745543e-03 -1.53192099e+00] [-4.73951359e-02 2.82401441e-04 9.98876179e-01 -1.68193701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932640000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.54, Z:-1.69 [[ 9.91243876e-01 1.23063213e-01 4.78646517e-02 2.58119957e+01] [-1.22904812e-01 9.92398785e-01 -6.24971393e-03 -1.53873879e+00] [-4.82699321e-02 3.12194607e-04 9.98834279e-01 -1.68564495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.55, Z:-1.68 [[ 9.91160928e-01 1.23372683e-01 4.87769920e-02 2.58447264e+01] [-1.23208073e-01 9.92360360e-01 -6.37866811e-03 -1.54508801e+00] [-4.91913067e-02 3.12567436e-04 9.98789326e-01 -1.68474886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.55, Z:-1.69 [[ 9.91127657e-01 1.23461531e-01 4.92261898e-02 2.58762113e+01] [-1.23293482e-01 9.92349307e-01 -6.44748442e-03 -1.55164658e+00] [-4.96455917e-02 3.21011796e-04 9.98766846e-01 -1.68670949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.56, Z:-1.69 [[ 9.91117842e-01 1.23542913e-01 4.92196263e-02 2.59077477e+01] [-1.23374524e-01 9.92339177e-01 -6.45637181e-03 -1.55967436e+00] [-4.96402025e-02 3.26577327e-04 9.98767112e-01 -1.68888217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.57, Z:-1.69 [[ 9.91027527e-01 1.24239926e-01 4.92836878e-02 2.59400836e+01] [-1.24071692e-01 9.92252162e-01 -6.47015413e-03 -1.56657748e+00] [-4.97056972e-02 2.97390336e-04 9.98763864e-01 -1.69072785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.57, Z:-1.69 [[ 9.90863897e-01 1.25286989e-01 4.99190239e-02 2.59712830e+01] [-1.25115203e-01 9.92120509e-01 -6.56370812e-03 -1.57333442e+00] [-5.03480346e-02 2.58112612e-04 9.98731700e-01 -1.69321036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.58, Z:-1.69 [[ 9.90630157e-01 1.27131925e-01 4.98935370e-02 2.60037410e+01] [-1.26962194e-01 9.91885802e-01 -6.56945452e-03 -1.58027401e+00] [-5.03238783e-02 1.73306835e-04 9.98732936e-01 -1.69446974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.59, Z:-1.70 [[ 9.90473436e-01 1.28136066e-01 5.04333358e-02 2.60348995e+01] [-1.27963420e-01 9.91756588e-01 -6.65074919e-03 -1.58576794e+00] [-5.08697939e-02 1.33768274e-04 9.98705285e-01 -1.69637882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.60, Z:-1.70 [[ 9.90282111e-01 1.29284498e-01 5.12528925e-02 2.60670621e+01] [-1.29107230e-01 9.91607539e-01 -6.76845342e-03 -1.59564164e+00] [-5.16978107e-02 8.55593739e-05 9.98662770e-01 -1.69843737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.60, Z:-1.70 [[ 9.90246614e-01 1.29692373e-01 5.09070891e-02 2.60993483e+01] [-1.29517529e-01 9.91554276e-01 -6.73252425e-03 -1.60291205e+00] [-5.13502990e-02 7.34989652e-05 9.98680700e-01 -1.69995652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.61, Z:-1.70 [[ 9.90155089e-01 1.30515190e-01 5.05834541e-02 2.61319153e+01] [-1.30343133e-01 9.91446309e-01 -6.69957243e-03 -1.60937113e+00] [-5.10251748e-02 4.04098616e-05 9.98697367e-01 -1.70213902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.62, Z:-1.70 [[ 9.90044990e-01 1.31449309e-01 5.03189448e-02 2.61642381e+01] [-1.31279751e-01 9.91322893e-01 -6.67441457e-03 -1.61556658e+00] [-5.07596691e-02 2.11215584e-06 9.98710897e-01 -1.70411323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.62, Z:-1.71 [[ 9.89706802e-01 1.34062320e-01 5.00773459e-02 2.61954696e+01] [-1.33897223e-01 9.90972896e-01 -6.65236801e-03 -1.62355935e+00] [-5.05171244e-02 -1.21323675e-04 9.98723188e-01 -1.70654685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322640000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.63, Z:-1.71 [[ 9.89454595e-01 1.36096628e-01 4.95712800e-02 2.62278687e+01] [-1.35936952e-01 9.90695545e-01 -6.59416694e-03 -1.62959554e+00] [-5.00074902e-02 -2.13939917e-04 9.98748820e-01 -1.70821767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.63, Z:-1.71 [[ 9.89133930e-01 1.38400615e-01 4.95917178e-02 2.62599482e+01] [-1.38243217e-01 9.90376275e-01 -6.60651466e-03 -1.63488422e+00] [-5.00288064e-02 -3.20990820e-04 9.98747724e-01 -1.71003436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.64, Z:-1.71 [[ 9.88551198e-01 1.42555604e-01 4.94411669e-02 2.62929296e+01] [-1.42403867e-01 9.89786658e-01 -6.59615913e-03 -1.64059470e+00] [-4.98765268e-02 -5.19972358e-04 9.98755256e-01 -1.71210223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.65, Z:-1.71 [[ 9.88246423e-01 1.44639958e-01 4.94801957e-02 2.63249339e+01] [-1.44490098e-01 9.89484160e-01 -6.61123410e-03 -1.64523553e+00] [-4.99161185e-02 -6.15869877e-04 9.98753224e-01 -1.71392731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.65, Z:-1.72 [[ 9.87750603e-01 1.48191610e-01 4.88670981e-02 2.63570547e+01] [-1.48049344e-01 9.88958363e-01 -6.53821031e-03 -1.64780365e+00] [-4.92964333e-02 -7.76620633e-04 9.98783890e-01 -1.71633924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.65, Z:-1.72 [[ 9.87571001e-01 1.49542884e-01 4.83781236e-02 2.63897699e+01] [-1.49404655e-01 9.88754895e-01 -6.48131741e-03 -1.65118623e+00] [-4.88033414e-02 -8.27155736e-04 9.98808064e-01 -1.71821808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.66, Z:-1.72 [[ 9.87426407e-01 1.50516639e-01 4.83097525e-02 2.64219130e+01] [-1.50379457e-01 9.88607099e-01 -6.48255889e-03 -1.65514728e+00] [-4.87350972e-02 -8.63744518e-04 9.98811366e-01 -1.72102709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.66, Z:-1.72 [[ 9.87357226e-01 1.51174573e-01 4.76650421e-02 2.64545733e+01] [-1.51041553e-01 9.88506690e-01 -6.40109348e-03 -1.65988390e+00] [-4.80848956e-02 -8.79236075e-04 9.98842865e-01 -1.72320602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.66, Z:-1.73 [[ 9.87354596e-01 1.51345781e-01 4.71736882e-02 2.64859462e+01] [-1.51215229e-01 9.88480500e-01 -6.34468288e-03 -1.66389645e+00] [-4.75905119e-02 -8.68928248e-04 9.98866552e-01 -1.72554098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.67, Z:-1.73 [[ 9.87413175e-01 1.50837888e-01 4.75726075e-02 2.65176509e+01] [-1.50704086e-01 9.88558153e-01 -6.40754127e-03 -1.66687021e+00] [-4.79947890e-02 -8.42495663e-04 9.98847231e-01 -1.72697090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.67, Z:-1.73 [[ 9.87877491e-01 1.47859094e-01 4.72837317e-02 2.65490693e+01] [-1.47723095e-01 9.89008200e-01 -6.37714557e-03 -1.66945021e+00] [-4.77069173e-02 -6.85060641e-04 9.98861142e-01 -1.72958546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.67, Z:-1.73 [[ 9.88263282e-01 1.45458990e-01 4.66622813e-02 2.65804345e+01] [-1.45323455e-01 9.89364127e-01 -6.30212716e-03 -1.67403574e+00] [-4.70826883e-02 -5.52963075e-04 9.98890842e-01 -1.73174629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.68, Z:-1.73 [[ 9.88657246e-01 1.42717096e-01 4.67833240e-02 2.66132621e+01] [-1.42577572e-01 9.89763434e-01 -6.32306292e-03 -1.67919772e+00] [-4.72068326e-02 -4.18910755e-04 9.98885048e-01 -1.73383346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.69, Z:-1.74 [[ 9.89691092e-01 1.34984570e-01 4.78613356e-02 2.66448572e+01] [-1.34829015e-01 9.90847700e-01 -6.47862254e-03 -1.68590150e+00] [-4.82978084e-02 -4.12617041e-05 9.98832979e-01 -1.73591695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.69, Z:-1.74 [[ 9.90238997e-01 1.30790999e-01 4.81709766e-02 2.66769882e+01] [-1.30628030e-01 9.91409948e-01 -6.52941230e-03 -1.69217491e+00] [-4.86111738e-02 1.73198904e-04 9.98817763e-01 -1.73773537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.70, Z:-1.74 [[ 9.90793682e-01 1.26494293e-01 4.82397586e-02 2.67092205e+01] [-1.26325309e-01 9.91967257e-01 -6.54810874e-03 -1.69824978e+00] [-4.86805594e-02 3.93922360e-04 9.98814321e-01 -1.73912920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.71, Z:-1.74 [[ 9.91761780e-01 1.18961291e-01 4.75056144e-02 2.67401417e+01] [-1.18788330e-01 9.92898601e-01 -6.45763483e-03 -1.70700774e+00] [-4.79364667e-02 7.61322789e-04 9.98850097e-01 -1.74139944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.72, Z:-1.74 [[ 9.92124536e-01 1.16254759e-01 4.66233401e-02 2.67726411e+01] [-1.16084799e-01 9.93219034e-01 -6.34578938e-03 -1.71515106e+00] [-4.70449170e-02 8.83552292e-04 9.98892384e-01 -1.74327713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.72, Z:-1.75 [[ 9.92327894e-01 1.14537568e-01 4.65456434e-02 2.68052932e+01] [-1.14365862e-01 9.93418442e-01 -6.34425417e-03 -1.72276898e+00] [-4.69659559e-02 9.72347766e-04 9.98896017e-01 -1.74505002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.73, Z:-1.75 [[ 9.92393747e-01 1.13733281e-01 4.71104280e-02 2.68366071e+01] [-1.13555984e-01 9.93510782e-01 -6.43154171e-03 -1.72983861e+00] [-4.75361985e-02 1.03295076e-03 9.98868982e-01 -1.74863443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.74, Z:-1.75 [[ 9.92081299e-01 1.15993076e-01 4.81695166e-02 2.68678154e+01] [-1.15810101e-01 9.93249567e-01 -6.58168519e-03 -1.74071206e+00] [-4.86077814e-02 9.51050186e-04 9.98817490e-01 -1.74783101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.76, Z:-1.74 [[ 9.91939591e-01 1.17144595e-01 4.83010562e-02 2.68971390e+01] [-1.17762425e-01 9.92990021e-01 1.01405145e-02 -1.75737254e+00] [-4.67745604e-02 -1.57468273e-02 9.98781346e-01 -1.73976990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.75, Z:-1.75 [[ 9.91096811e-01 1.25220524e-01 4.52430241e-02 2.69308718e+01] [-1.24263029e-01 9.91973334e-01 -2.34009358e-02 -1.74746581e+00] [-4.78101509e-02 1.75705577e-02 9.98701890e-01 -1.74970316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.76, Z:-1.75 [[ 9.90656145e-01 1.27935368e-01 4.72540388e-02 2.69612275e+01] [-1.27771778e-01 9.91782434e-01 -6.47889158e-03 -1.76263408e+00] [-4.76946050e-02 3.80621203e-04 9.98861892e-01 -1.75142229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.77, Z:-1.75 [[ 9.90114495e-01 1.32100832e-01 4.71450721e-02 2.69937311e+01] [-1.31942491e-01 9.91236267e-01 -6.46861575e-03 -1.76862426e+00] [-4.75864148e-02 1.84231968e-04 9.98867108e-01 -1.75339898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.78, Z:-1.75 [[ 9.88959041e-01 1.40511576e-01 4.70798549e-02 2.70252669e+01] [-1.40362750e-01 9.90079013e-01 -6.46883134e-03 -1.77593530e+00] [-4.75217219e-02 -2.10848668e-04 9.98870183e-01 -1.75469443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.78, Z:-1.76 [[ 9.88354553e-01 1.44671320e-01 4.71750729e-02 2.70577158e+01] [-1.44526224e-01 9.89479685e-01 -6.49029482e-03 -1.78098459e+00] [-4.76177358e-02 -4.03322736e-04 9.98865551e-01 -1.75626176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.79, Z:-1.76 [[ 9.87725097e-01 1.48836514e-01 4.74006894e-02 2.70905457e+01] [-1.48694374e-01 9.88861636e-01 -6.53057648e-03 -1.78562041e+00] [-4.78447115e-02 -5.97801538e-04 9.98854607e-01 -1.75806082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.79, Z:-1.76 [[ 9.86602940e-01 1.55946022e-01 4.79111263e-02 2.71237891e+01] [-1.55808714e-01 9.87765128e-01 -6.61029677e-03 -1.78921763e+00] [-4.83557893e-02 -9.43232774e-04 9.98829729e-01 -1.76017558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.80, Z:-1.76 [[ 9.86031483e-01 1.58554753e-01 5.10127855e-02 2.71548009e+01] [-1.59083575e-01 9.87244031e-01 6.45288763e-03 -1.80057982e+00] [-4.93389319e-02 -1.44780467e-02 9.98677153e-01 -1.75894781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.80, Z:-1.76 [[ 9.85721031e-01 1.61531936e-01 4.75550463e-02 2.71882608e+01] [-1.61544545e-01 9.86858842e-01 -3.60350136e-03 -1.79730950e+00] [-4.75121985e-02 -4.13021121e-03 9.98862119e-01 -1.75666408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.79, Z:-1.77 [[ 9.85047468e-01 1.65974833e-01 4.61935201e-02 2.72215877e+01] [-1.65077694e-01 9.86020942e-01 -2.26286609e-02 -1.78668072e+00] [-4.93035665e-02 1.46647854e-02 9.98676175e-01 -1.76678494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.80, Z:-1.77 [[ 9.84986576e-01 1.65659319e-01 4.85637264e-02 2.72517821e+01] [-1.65528544e-01 9.86182034e-01 -6.73034368e-03 -1.79875465e+00] [-4.90076186e-02 -1.40938476e-03 9.98797410e-01 -1.76916197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.80, Z:-1.77 [[ 9.85014678e-01 1.65436449e-01 4.87531036e-02 2.72847100e+01] [-1.65303947e-01 9.86219466e-01 -6.76536059e-03 -1.80239745e+00] [-4.92004970e-02 -1.39510095e-03 9.98787948e-01 -1.77111360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.81, Z:-1.77 [[ 9.85152257e-01 1.64619809e-01 4.87375495e-02 2.73171388e+01] [-1.64485956e-01 9.86356178e-01 -6.77207747e-03 -1.80604760e+00] [-4.91874011e-02 -1.34511500e-03 9.98788661e-01 -1.77312630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.81, Z:-1.78 [[ 9.85694748e-01 1.61601896e-01 4.78611689e-02 2.73496257e+01] [-1.61468823e-01 9.86855345e-01 -6.65933914e-03 -1.80758512e+00] [-4.83082122e-02 -1.16401102e-03 9.98831799e-01 -1.77508411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.81, Z:-1.78 [[ 9.85986682e-01 1.59948843e-01 4.73986259e-02 2.73828369e+01] [-1.59816028e-01 9.87124731e-01 -6.60320247e-03 -1.81088219e+00] [-4.78445305e-02 -1.06439043e-03 9.98854228e-01 -1.77767889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.81, Z:-1.78 [[ 9.86567389e-01 1.56384140e-01 4.72100370e-02 2.74153538e+01] [-1.56247842e-01 9.87695919e-01 -6.58654099e-03 -1.81131762e+00] [-4.76591914e-02 -8.78399870e-04 9.98863269e-01 -1.78062827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.81, Z:-1.78 [[ 9.86840546e-01 1.54877795e-01 4.64607983e-02 2.74483642e+01] [-1.54743916e-01 9.87933321e-01 -6.48641386e-03 -1.81337634e+00] [-4.69047723e-02 -7.88469671e-04 9.98899054e-01 -1.78210263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.82, Z:-1.78 [[ 9.87045746e-01 1.53549558e-01 4.65105100e-02 2.74811530e+01] [-1.53413485e-01 9.88140688e-01 -6.50258299e-03 -1.81586793e+00] [-4.69573961e-02 -7.16992535e-04 9.98896636e-01 -1.78478802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.82, Z:-1.79 [[ 9.87032547e-01 1.53634823e-01 4.65090530e-02 2.75142624e+01] [-1.53498354e-01 9.88127439e-01 -6.51298577e-03 -1.82064144e+00] [-4.69574929e-02 -7.10534157e-04 9.98896636e-01 -1.78675542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.82, Z:-1.79 [[ 9.87435023e-01 1.51089598e-01 4.63034401e-02 2.75477170e+01] [-1.50951410e-01 9.88519900e-01 -6.48688391e-03 -1.82271180e+00] [-4.67519726e-02 -5.84193204e-04 9.98906358e-01 -1.78936287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.83, Z:-1.79 [[ 9.87603198e-01 1.50102126e-01 4.59268526e-02 2.75794486e+01] [-1.49964679e-01 9.88670358e-01 -6.44342876e-03 -1.82557285e+00] [-4.63736902e-02 -5.23854876e-04 9.98924024e-01 -1.79157159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.83, Z:-1.79 [[ 9.87810293e-01 1.49123627e-01 4.46426772e-02 2.76128410e+01] [-1.48992412e-01 9.88818454e-01 -6.27102812e-03 -1.82782774e+00] [-4.50786615e-02 -4.56834043e-04 9.98983336e-01 -1.79388754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.83, Z:-1.80 [[ 9.87968094e-01 1.48198959e-01 4.42279654e-02 2.76452213e+01] [-1.48068832e-01 9.88957485e-01 -6.22203041e-03 -1.82954455e+00] [-4.46616759e-02 -4.01615652e-04 9.99002089e-01 -1.79594472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.83, Z:-1.80 [[ 9.88232311e-01 1.46440549e-01 4.41821836e-02 2.76777398e+01] [-1.46308552e-01 9.89219423e-01 -6.22416031e-03 -1.82923450e+00] [-4.46173437e-02 -3.13314990e-04 9.99004101e-01 -1.79787901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.83, Z:-1.80 [[ 9.88351668e-01 1.45599042e-01 4.42933249e-02 2.77104219e+01] [-1.45465169e-01 9.89343645e-01 -6.24800222e-03 -1.83186811e+00] [-4.47310226e-02 -2.67912568e-04 9.98999031e-01 -1.79990300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.83, Z:-1.80 [[ 9.88657008e-01 1.43354767e-01 4.47965440e-02 2.77437563e+01] [-1.43215138e-01 9.89671352e-01 -6.32764016e-03 -1.83457982e+00] [-4.52409537e-02 -1.59677445e-04 9.98976091e-01 -1.80225792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.84, Z:-1.80 [[ 9.88826496e-01 1.42166418e-01 4.48427277e-02 2.77760035e+01] [-1.42024890e-01 9.89842765e-01 -6.34274183e-03 -1.83866981e+00] [-4.52889745e-02 -9.69123121e-05 9.98973923e-01 -1.80384846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.84, Z:-1.81 [[ 9.89024462e-01 1.40550760e-01 4.55642096e-02 2.78082028e+01] [-1.40402448e-01 9.90073474e-01 -6.45513118e-03 -1.84204368e+00] [-4.60191889e-02 -1.30439528e-05 9.98940556e-01 -1.80564456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.84, Z:-1.81 [[ 9.89589094e-01 1.36200136e-01 4.65074959e-02 2.78417558e+01] [-1.36040572e-01 9.90681323e-01 -6.59387587e-03 -1.84335150e+00] [-4.69721944e-02 1.98321321e-04 9.98896178e-01 -1.80722575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.85, Z:-1.81 [[ 9.89896379e-01 1.33660525e-01 4.73288778e-02 2.78731177e+01] [-1.33491898e-01 9.91027120e-01 -6.72018267e-03 -1.84712855e+00] [-4.78024246e-02 3.34262783e-04 9.98856755e-01 -1.80924066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.85, Z:-1.81 [[ 9.90632994e-01 1.27882390e-01 4.78786491e-02 2.79054787e+01] [-1.27702634e-01 9.91789140e-01 -6.80725616e-03 -1.85235481e+00] [-4.83560524e-02 6.29262932e-04 9.98829964e-01 -1.81121517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.86, Z:-1.81 [[ 9.90967080e-01 1.25371603e-01 4.76047094e-02 2.79379344e+01] [-1.25190572e-01 9.92109565e-01 -6.77728962e-03 -1.85835372e+00] [-4.80787672e-02 7.56410096e-04 9.98843261e-01 -1.81332060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.86, Z:-1.82 [[ 9.91247660e-01 1.23229573e-01 4.73555495e-02 2.79692743e+01] [-1.23047510e-01 9.92377813e-01 -6.75184876e-03 -1.86435712e+00] [-4.78266240e-02 8.65771847e-04 9.98855277e-01 -1.81517195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.87, Z:-1.82 [[ 9.91449120e-01 1.21751595e-01 4.69594659e-02 2.80018989e+01] [-1.21570681e-01 9.92560163e-01 -6.70019863e-03 -1.87107683e+00] [-4.74258550e-02 9.34011783e-04 9.98874324e-01 -1.81691348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.88, Z:-1.82 [[ 9.91617496e-01 1.20618035e-01 4.63252705e-02 2.80328365e+01] [-1.20440318e-01 9.92698505e-01 -6.61876906e-03 -1.87871965e+00] [-4.67853697e-02 9.83856898e-04 9.98904481e-01 -1.81895321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03264 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.88, Z:-1.82 [[ 9.91653594e-01 1.20727218e-01 4.52558136e-02 2.80643153e+01] [-1.20557363e-01 9.92685252e-01 -6.47399876e-03 -1.88288503e+00] [-4.57063666e-02 9.64042583e-04 9.98954453e-01 -1.82489039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.89, Z:-1.82 [[ 9.91259951e-01 1.23751995e-01 4.57072589e-02 2.80962273e+01] [-1.23581553e-01 9.92312822e-01 -6.54702140e-03 -1.88731171e+00] [-4.61661061e-02 8.41226048e-04 9.98933423e-01 -1.82277885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:-1.89, Z:-1.82 [[ 9.91102557e-01 1.25143909e-01 4.53290659e-02 2.81287032e+01] [-1.24977372e-01 9.92138295e-01 -6.50072594e-03 -1.89286611e+00] [-4.57862285e-02 7.77778551e-04 9.98950958e-01 -1.82449440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.16, Y:-1.90, Z:-1.83 [[ 9.90955129e-01 1.26343013e-01 4.52258242e-02 2.81595686e+01] [-1.26178082e-01 9.91986346e-01 -6.49467151e-03 -1.89822748e+00] [-4.56839565e-02 7.29420306e-04 9.98955677e-01 -1.82992412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:-1.90, Z:-1.83 [[ 9.90409346e-01 1.30229323e-01 4.61481474e-02 2.81921324e+01] [-1.30061421e-01 9.91483736e-01 -6.63535130e-03 -1.90341732e+00] [-4.66192549e-02 5.69620331e-04 9.98912569e-01 -1.82779827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.91, Z:-1.83 [[ 9.90151112e-01 1.32177721e-01 4.61500393e-02 2.82244579e+01] [-1.32011507e-01 9.91225914e-01 -6.64444529e-03 -1.90718706e+00] [-4.66233626e-02 4.86668637e-04 9.98912421e-01 -1.82961665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.91, Z:-1.83 [[ 9.89879949e-01 1.33931095e-01 4.69057314e-02 2.82566045e+01] [-1.33760900e-01 9.90990558e-01 -6.76286178e-03 -1.91146121e+00] [-4.73888944e-02 4.20268401e-04 9.98876427e-01 -1.83215151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.92, Z:-1.83 [[ 9.89691339e-01 1.35310777e-01 4.69259709e-02 2.82884741e+01] [-1.35141570e-01 9.90803140e-01 -6.77452211e-03 -1.91563449e+00] [-4.74110652e-02 3.63036476e-04 9.98875397e-01 -1.83397931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:-1.92, Z:-1.84 [[ 9.89318644e-01 1.37887021e-01 4.72841411e-02 2.83197723e+01] [-1.37717752e-01 9.90447933e-01 -6.83474722e-03 -1.91972512e+00] [-4.77749027e-02 2.49877252e-04 9.98858096e-01 -1.83622331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.92, Z:-1.84 [[ 9.89154734e-01 1.38905762e-01 4.77294720e-02 2.83516911e+01] [-1.38734060e-01 9.90305582e-01 -6.90766870e-03 -1.92440838e+00] [-4.82262776e-02 2.11049779e-04 9.98836414e-01 -1.83786506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.38, Y:-1.93, Z:-1.84 [[ 9.88986080e-01 1.39694783e-01 4.89070745e-02 2.83837043e+01] [-1.39515024e-01 9.90194594e-01 -7.08695470e-03 -1.92893467e+00] [-4.94175313e-02 1.85627889e-04 9.98778190e-01 -1.83925996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362640000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.93, Z:-1.85 [[ 9.89016463e-01 1.39399523e-01 4.91345894e-02 2.84163459e+01] [-1.39217305e-01 9.90236199e-01 -7.12832005e-03 -1.93285981e+00] [-4.96485335e-02 2.09640751e-04 9.98766729e-01 -1.84500594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.94, Z:-1.84 [[ 9.88985751e-01 1.39300016e-01 5.00269008e-02 2.84479751e+01] [-1.39110470e-01 9.90250197e-01 -7.26800248e-03 -1.93876638e+00] [-5.05515813e-02 2.28685192e-04 9.98721425e-01 -1.84335269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.94, Z:-1.85 [[ 9.89044237e-01 1.39088273e-01 4.94565386e-02 2.84799331e+01] [-1.38902306e-01 9.90279956e-01 -7.19427773e-03 -1.94387187e+00] [-4.99764586e-02 2.45831691e-04 9.98750366e-01 -1.84547246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.95, Z:-1.85 [[ 9.89080934e-01 1.39034866e-01 4.88693346e-02 2.85128975e+01] [-1.38852819e-01 9.90287454e-01 -7.11709975e-03 -1.94878621e+00] [-4.93842140e-02 2.53742820e-04 9.98779823e-01 -1.84749172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.95, Z:-1.85 [[ 9.89043700e-01 1.39384320e-01 4.86268623e-02 2.85458007e+01] [-1.39204069e-01 9.90238331e-01 -7.09049277e-03 -1.95388920e+00] [-4.91404865e-02 2.43750084e-04 9.98791847e-01 -1.84999004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.96, Z:-1.85 [[ 9.88920290e-01 1.40532748e-01 4.78247431e-02 2.85776559e+01] [-1.40359297e-01 9.90076012e-01 -6.98269601e-03 -1.95811554e+00] [-4.83314284e-02 1.92682417e-04 9.98831335e-01 -1.85195602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.96, Z:-1.85 [[ 9.88818046e-01 1.41398875e-01 4.73838668e-02 2.86104360e+01] [-1.41229209e-01 9.89952693e-01 -6.92653886e-03 -1.96291016e+00] [-4.78871914e-02 1.57100591e-04 9.98852738e-01 -1.85397782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.97, Z:-1.86 [[ 9.88586403e-01 1.42917012e-01 4.76618544e-02 2.86420316e+01] [-1.42746650e-01 9.89734671e-01 -6.97674723e-03 -1.96829519e+00] [-4.81696856e-02 9.35474144e-05 9.98839163e-01 -1.85621628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.97, Z:-1.86 [[ 9.88084859e-01 1.46517780e-01 4.71259047e-02 2.86747312e+01] [-1.46354919e-01 9.89208034e-01 -6.90671087e-03 -1.97332918e+00] [-4.76292795e-02 -7.26915379e-05 9.98865079e-01 -1.85791861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.98, Z:-1.86 [[ 9.87792697e-01 1.48474966e-01 4.71250719e-02 2.87060005e+01] [-1.48313893e-01 9.88916154e-01 -6.91588365e-03 -1.97697487e+00] [-4.76295805e-02 -1.57843513e-04 9.98865055e-01 -1.86012657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.98, Z:-1.86 [[ 9.87481738e-01 1.50435288e-01 4.74240528e-02 2.87376105e+01] [-1.50274006e-01 9.88619828e-01 -6.96845382e-03 -1.98069541e+00] [-4.79326602e-02 -2.45381477e-04 9.98850539e-01 -1.86264059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.98, Z:-1.86 [[ 9.87010494e-01 1.53215865e-01 4.83237270e-02 2.87704111e+01] [-1.53051300e-01 9.88192671e-01 -7.10945925e-03 -1.98363264e+00] [-4.88424348e-02 -3.78898354e-04 9.98806424e-01 -1.86497776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.99, Z:-1.87 [[ 9.86916617e-01 1.53941162e-01 4.79344391e-02 2.88021240e+01] [-1.53779645e-01 9.88079934e-01 -7.06144860e-03 -1.98680422e+00] [-4.84501051e-02 -4.02280082e-04 9.98825523e-01 -1.86663959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.99, Z:-1.87 [[ 9.86928477e-01 1.54012892e-01 4.74574636e-02 2.88343907e+01] [-1.53854254e-01 9.88068760e-01 -6.99959644e-03 -1.98810172e+00] [-4.79692653e-02 -3.93431594e-04 9.98848735e-01 -1.86880340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.99, Z:-1.87 [[ 9.87026037e-01 1.53543018e-01 4.69483040e-02 2.88669870e+01] [-1.53386850e-01 9.88141899e-01 -6.93262816e-03 -1.99175577e+00] [-4.74560430e-02 -3.58567952e-04 9.98873263e-01 -1.87102966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812640000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.00, Z:-1.88 [[ 9.87276227e-01 1.52174627e-01 4.61360432e-02 2.88997796e+01] [-1.52021924e-01 9.88353583e-01 -6.82127647e-03 -1.99512628e+00] [-4.66367488e-02 -2.79205938e-04 9.98911876e-01 -1.87703137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.00, Z:-1.88 [[ 9.87437835e-01 1.51074474e-01 4.62928287e-02 2.89325859e+01] [-1.50919109e-01 9.88522360e-01 -6.85327053e-03 -2.00094014e+00] [-4.67968505e-02 -2.19293835e-04 9.98904403e-01 -1.87554744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.01, Z:-1.88 [[ 9.87987170e-01 1.47301240e-01 4.67300295e-02 2.89646877e+01] [-1.47138260e-01 9.89091676e-01 -6.92738697e-03 -2.00597445e+00] [-4.72406959e-02 -3.16057945e-05 9.98883535e-01 -1.87782553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.01, Z:-1.88 [[ 9.88301542e-01 1.45116986e-01 4.69161302e-02 2.89971079e+01] [-1.44949795e-01 9.89414500e-01 -6.96443898e-03 -2.01077747e+00] [-4.74301580e-02 8.24823183e-05 9.98874553e-01 -1.88006244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.02, Z:-1.88 [[ 9.88596724e-01 1.43014689e-01 4.71520544e-02 2.90283519e+01] [-1.42842961e-01 9.89720547e-01 -7.00908111e-03 -2.01553887e+00] [-4.76697586e-02 1.93815562e-04 9.98863132e-01 -1.88232098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.02, Z:-1.88 [[ 9.89133183e-01 1.39145472e-01 4.74771993e-02 2.90592774e+01] [-1.38966480e-01 9.90271874e-01 -7.06635149e-03 -2.02151449e+00] [-4.79985859e-02 3.91823487e-04 9.98847327e-01 -1.88470959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.03, Z:-1.89 [[ 9.89312256e-01 1.37830651e-01 4.75812050e-02 2.90916358e+01] [-1.37648938e-01 9.90455701e-01 -7.09047208e-03 -2.02751270e+00] [-4.81043601e-02 4.65188609e-04 9.98842207e-01 -1.88712426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.03, Z:-1.89 [[ 9.89527495e-01 1.36560097e-01 4.67619216e-02 2.91238938e+01] [-1.36382754e-01 9.90631648e-01 -6.97724674e-03 -2.03380753e+00] [-4.72766530e-02 5.26657828e-04 9.98881695e-01 -1.88926637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.04, Z:-1.89 [[ 9.89724420e-01 1.35367538e-01 4.60565169e-02 2.91547314e+01] [-1.35193802e-01 9.90795281e-01 -6.88090219e-03 -2.04095790e+00] [-4.65640304e-02 5.83641294e-04 9.98915137e-01 -1.89152975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.05, Z:-1.89 [[ 9.89734156e-01 1.35220362e-01 4.62790882e-02 2.91859498e+01] [-1.35044386e-01 9.90815367e-01 -6.92259787e-03 -2.04672844e+00] [-4.67901080e-02 6.01800510e-04 9.98904562e-01 -1.89331323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.05, Z:-1.90 [[ 9.89754383e-01 1.35050624e-01 4.63421038e-02 2.92176108e+01] [-1.34873558e-01 9.90838506e-01 -6.94105881e-03 -2.05368876e+00] [-4.68549352e-02 6.19618951e-04 9.98901512e-01 -1.89533459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.06, Z:-1.90 [[ 9.89724608e-01 1.35312250e-01 4.62146567e-02 2.92503086e+01] [-1.35136226e-01 9.90802817e-01 -6.92661126e-03 -2.05918511e+00] [-4.67268674e-02 6.10163346e-04 9.98907517e-01 -1.89699879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.06, Z:-1.90 [[ 9.89652163e-01 1.35840555e-01 4.62162197e-02 2.92831805e+01] [-1.35664686e-01 9.90730534e-01 -6.93557366e-03 -2.06487661e+00] [-4.67299522e-02 5.93896542e-04 9.98907383e-01 -1.89945313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.07, Z:-1.90 [[ 9.89478990e-01 1.37108425e-01 4.61801674e-02 2.93146597e+01] [-1.36933796e-01 9.90555897e-01 -6.93899981e-03 -2.07319843e+00] [-4.66954325e-02 5.42368898e-04 9.98909026e-01 -1.90213371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.08, Z:-1.90 [[ 9.89377902e-01 1.37894850e-01 4.60041013e-02 2.93467585e+01] [-1.37722033e-01 9.90446742e-01 -6.92044579e-03 -2.08000572e+00] [-4.65189061e-02 5.11157784e-04 9.98917279e-01 -1.90378501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.09, Z:-1.91 [[ 9.89235661e-01 1.38918636e-01 4.59828134e-02 2.93792381e+01] [-1.38746687e-01 9.90303686e-01 -6.92578852e-03 -2.08595454e+00] [-4.64990707e-02 4.71273980e-04 9.98918222e-01 -1.90544431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292640000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.09, Z:-1.91 [[ 9.89025709e-01 1.40248955e-01 4.64583346e-02 2.94108914e+01] [-1.40074464e-01 9.90116181e-01 -7.00656382e-03 -2.09089656e+00] [-4.69818121e-02 4.22045418e-04 9.98895656e-01 -1.91120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.10, Z:-1.91 [[ 9.88864014e-01 1.41343953e-01 4.65816274e-02 2.94438843e+01] [-1.41169365e-01 9.89960476e-01 -7.03328806e-03 -2.09744508e+00] [-4.71080827e-02 3.79066683e-04 9.98889726e-01 -1.90879855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.10, Z:-1.91 [[ 9.88560100e-01 1.43473131e-01 4.65229903e-02 2.94751780e+01] [-1.43300895e-01 9.89654171e-01 -7.03384037e-03 -2.10372385e+00] [-4.70508385e-02 2.86587803e-04 9.98892455e-01 -1.91066996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.11, Z:-1.91 [[ 9.88465408e-01 1.44239163e-01 4.61649390e-02 2.95077460e+01] [-1.44070015e-01 9.89542823e-01 -6.98802750e-03 -2.10846294e+00] [-4.66901313e-02 2.56439984e-04 9.98909388e-01 -1.91286686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.11, Z:-1.91 [[ 9.88453106e-01 1.44323937e-01 4.61633783e-02 2.95408009e+01] [-1.44154402e-01 9.89530460e-01 -6.99832136e-03 -2.11360675e+00] [-4.66900943e-02 2.62858307e-04 9.98909388e-01 -1.91483417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.12, Z:-1.92 [[ 9.88469620e-01 1.44329550e-01 4.57907269e-02 2.95733907e+01] [-1.44162629e-01 9.89529642e-01 -6.94439909e-03 -2.12011187e+00] [-4.63135636e-02 2.63015968e-04 9.98926917e-01 -1.91704226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.13, Z:-1.92 [[ 9.88475239e-01 1.43970821e-01 4.67878759e-02 2.96054686e+01] [-1.43795690e-01 9.89581889e-01 -7.10522432e-03 -2.12662448e+00] [-4.73233796e-02 2.95443422e-04 9.98879578e-01 -1.91831594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.13, Z:-1.92 [[ 9.88454444e-01 1.43808699e-01 4.77165639e-02 2.96370516e+01] [-1.43625872e-01 9.89605455e-01 -7.25622908e-03 -2.13160993e+00] [-4.82640808e-02 3.19118803e-04 9.98834559e-01 -1.92001119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.14, Z:-1.92 [[ 9.88483644e-01 1.43745282e-01 4.73009403e-02 2.96683863e+01] [-1.43565130e-01 9.89614666e-01 -7.20188470e-03 -2.13608200e+00] [-4.78449412e-02 3.28179592e-04 9.98854721e-01 -1.92207633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.14, Z:-1.92 [[ 9.88463542e-01 1.43998907e-01 4.69482751e-02 2.97008097e+01] [-1.43821332e-01 9.89577794e-01 -7.15634121e-03 -2.14189007e+00] [-4.74894758e-02 3.21618914e-04 9.98871687e-01 -1.92393670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.15, Z:-1.93 [[ 9.88287004e-01 1.44973820e-01 4.76590910e-02 2.97322702e+01] [-1.44791487e-01 9.89435449e-01 -7.27441024e-03 -2.14612512e+00] [-4.82101932e-02 2.88574429e-04 9.98837171e-01 -1.92612654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.15, Z:-1.93 [[ 9.88166727e-01 1.45801908e-01 4.76269239e-02 2.97653744e+01] [-1.45620363e-01 9.89313771e-01 -7.27818845e-03 -2.15053481e+00] [-4.81791454e-02 2.56613693e-04 9.98838678e-01 -1.92779806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.16, Z:-1.93 [[ 9.88041332e-01 1.46525895e-01 4.80050884e-02 2.97978317e+01] [-1.46341857e-01 9.89206808e-01 -7.34524373e-03 -2.15518501e+00] [-4.85632286e-02 2.32250617e-04 9.98820083e-01 -1.93033757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.16, Z:-1.93 [[ 9.87883206e-01 1.47462215e-01 4.83907739e-02 2.98307421e+01] [-1.47275849e-01 9.89067670e-01 -7.41404888e-03 -2.16028021e+00] [-4.89550421e-02 1.97422060e-04 9.98800964e-01 -1.93229375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.16, Z:-1.93 [[ 9.87667713e-01 1.49143401e-01 4.76312446e-02 2.98621101e+01] [-1.48964337e-01 9.88815570e-01 -7.30719439e-03 -2.16355271e+00] [-4.81883361e-02 1.21723172e-04 9.98838260e-01 -1.93405275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.17, Z:-1.94 [[ 9.87596027e-01 1.49838379e-01 4.69313044e-02 2.98947126e+01] [-1.49664922e-01 9.88710499e-01 -7.20832674e-03 -2.16785462e+00] [-4.74815574e-02 9.49448472e-05 9.98872110e-01 -1.93610550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.17, Z:-1.94 [[ 9.87503930e-01 1.50485121e-01 4.67997445e-02 2.99277202e+01] [-1.50312936e-01 9.88612271e-01 -7.19707954e-03 -2.17275215e+00] [-4.73498551e-02 7.25373176e-05 9.98878364e-01 -1.93824573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802640000000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.18, Z:-1.95 [[ 9.87383445e-01 1.51187682e-01 4.70767103e-02 2.99590734e+01] [-1.51013787e-01 9.88505075e-01 -7.24940303e-03 -2.17778632e+00] [-4.76315875e-02 4.87082566e-05 9.98864971e-01 -1.94511966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.18, Z:-1.94 [[ 9.87473238e-01 1.50770559e-01 4.65278818e-02 2.99922006e+01] [-1.50599834e-01 9.88568780e-01 -7.17337364e-03 -2.18326929e+00] [-4.70775449e-02 7.64232255e-05 9.98891235e-01 -1.94223555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862640000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.19, Z:-1.94 [[ 9.87467538e-01 1.50763096e-01 4.66728037e-02 3.00239216e+01] [-1.50590847e-01 9.88569917e-01 -7.20524041e-03 -2.18787749e+00] [-4.72256141e-02 8.64439559e-05 9.98884244e-01 -1.94414356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.19, Z:-1.95 [[ 9.87475302e-01 1.50771662e-01 4.64804634e-02 3.00570206e+01] [-1.50600435e-01 9.88568610e-01 -7.18415254e-03 -2.19111731e+00] [-4.70322937e-02 9.41952048e-05 9.98893365e-01 -1.94504215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.20, Z:-1.95 [[ 9.87371440e-01 1.51526354e-01 4.62320676e-02 3.00893030e+01] [-1.51357365e-01 9.88453216e-01 -7.15461363e-03 -2.19538126e+00] [-4.67823484e-02 6.66972418e-05 9.98905104e-01 -1.94677346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952640000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.20, Z:-1.95 [[ 9.87171261e-01 1.52752055e-01 4.64726922e-02 3.01219982e+01] [-1.52582235e-01 9.88264544e-01 -7.20084143e-03 -2.19980673e+00] [-4.70272573e-02 1.75564896e-05 9.98893606e-01 -1.94858078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.20, Z:-1.95 [[ 9.86593670e-01 1.56364946e-01 4.67218773e-02 3.01551916e+01] [-1.56196907e-01 9.87699338e-01 -7.24871320e-03 -2.20427398e+00] [-4.72806120e-02 -1.46278169e-04 9.98881636e-01 -1.94964324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.21, Z:-1.95 [[ 9.86222848e-01 1.58598759e-01 4.70205062e-02 3.01874611e+01] [-1.58430657e-01 9.87343088e-01 -7.30436093e-03 -2.20859884e+00] [-4.75838344e-02 -2.45762078e-04 9.98867218e-01 -1.95059632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.22, Z:-1.95 [[ 9.85979406e-01 1.59835447e-01 4.79295395e-02 3.02179137e+01] [-1.60339988e-01 9.87038086e-01 6.84865655e-03 -2.22067309e+00] [-4.62136228e-02 -1.44376561e-02 9.98827240e-01 -1.94687568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.21, Z:-1.95 [[ 9.85460724e-01 1.63899690e-01 4.47666450e-02 3.02514758e+01] [-1.63083823e-01 9.86381589e-01 -2.13313838e-02 -2.20696519e+00] [-4.76532016e-02 1.37205253e-02 9.98769703e-01 -1.95323546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.22, Z:-1.96 [[ 9.85409822e-01 1.63590479e-01 4.69642281e-02 3.02809865e+01] [-1.63427517e-01 9.86528224e-01 -7.31503600e-03 -2.21847929e+00] [-4.75282068e-02 -4.66938856e-04 9.98869787e-01 -1.95568241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:-2.22, Z:-1.96 [[ 9.85446520e-01 1.63323882e-01 4.71218226e-02 3.03123887e+01] [-1.63159265e-01 9.86572403e-01 -7.34489943e-03 -2.22181825e+00] [-4.76886873e-02 -4.50356362e-04 9.98862146e-01 -1.95742209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.22, Z:-1.96 [[ 9.85808378e-01 1.60940586e-01 4.77490276e-02 3.03438863e+01] [-1.60768769e-01 9.86964038e-01 -7.44247337e-03 -2.22499972e+00] [-4.83243691e-02 -3.39699800e-04 9.98831637e-01 -1.95869689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.23, Z:-1.96 [[ 9.86092453e-01 1.59050489e-01 4.82142751e-02 3.03758520e+01] [-1.58872676e-01 9.87270421e-01 -7.52259238e-03 -2.22963224e+00] [-4.87969996e-02 -2.41959346e-04 9.98808688e-01 -1.96034793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.23, Z:-1.96 [[ 9.86445397e-01 1.56911489e-01 4.80027352e-02 3.04074012e+01] [-1.56732316e-01 9.87612661e-01 -7.49751730e-03 -2.23497901e+00] [-4.85845556e-02 -1.27688430e-04 9.98819065e-01 -1.96188497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.24, Z:-1.96 [[ 9.86841609e-01 1.54664998e-01 4.71421029e-02 3.04400248e+01] [-1.54489282e-01 9.87966972e-01 -7.37043444e-03 -2.24174505e+00] [-4.77147889e-02 -9.49827358e-06 9.98861001e-01 -1.96416238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:-2.25, Z:-1.97 [[ 9.87651312e-01 1.49791297e-01 4.59069990e-02 3.04720992e+01] [-1.49619011e-01 9.88717611e-01 -7.18585425e-03 -2.25017706e+00] [-4.64654368e-02 2.28558610e-04 9.98919872e-01 -1.96670194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.26, Z:-1.97 [[ 9.88018166e-01 1.47330226e-01 4.59772614e-02 3.05039281e+01] [-1.47154327e-01 9.89087296e-01 -7.20588920e-03 -2.25669734e+00] [-4.65371704e-02 3.53796488e-04 9.98916496e-01 -1.96866221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.26, Z:-1.97 [[ 9.88698982e-01 1.42622551e-01 4.61858195e-02 3.05355666e+01] [-1.42439524e-01 9.89776977e-01 -7.24692522e-03 -2.26318525e+00] [-4.67472358e-02 5.86341438e-04 9.98906578e-01 -1.97008158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.27, Z:-1.97 [[ 9.88976618e-01 1.40935492e-01 4.54140559e-02 3.05679779e+01] [-1.40756401e-01 9.90018559e-01 -7.13355998e-03 -2.27008183e+00] [-4.59661300e-02 6.62604970e-04 9.98942779e-01 -1.97164282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-2.28, Z:-1.97 [[ 9.89227977e-01 1.39363200e-01 4.47873553e-02 3.05999131e+01] [-1.39187035e-01 9.90241062e-01 -7.04338159e-03 -2.27759333e+00] [-4.53318664e-02 7.33690950e-04 9.98971713e-01 -1.97377356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.29, Z:-1.98 [[ 9.89480247e-01 1.37883091e-01 4.37846424e-02 3.06311297e+01] [-1.37712917e-01 9.90448195e-01 -6.89390710e-03 -2.28822936e+00] [-4.43169733e-02 7.91674052e-04 9.99017207e-01 -1.97577373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.30, Z:-1.98 [[ 9.89482582e-01 1.38127297e-01 4.29542649e-02 3.06631699e+01] [-1.37963388e-01 9.90414181e-01 -6.77148563e-03 -2.29570139e+00] [-4.34778401e-02 7.74151167e-04 9.99054092e-01 -1.97766187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.30, Z:-1.98 [[ 9.89353490e-01 1.39171231e-01 4.25563232e-02 3.06955459e+01] [-1.39010954e-01 9.90268063e-01 -6.71703898e-03 -2.30270106e+00] [-4.30769863e-02 7.29730852e-04 9.99071489e-01 -1.97952160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.31, Z:-1.98 [[ 9.89147999e-01 1.40298256e-01 4.36192172e-02 3.07270235e+01] [-1.40517902e-01 9.90076127e-01 1.99563336e-03 -2.31418610e+00] [-4.29063617e-02 -8.10325763e-03 9.99046236e-01 -1.97945576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.31, Z:-1.98 [[ 9.88562544e-01 1.45018704e-01 4.13965313e-02 3.07596221e+01] [-1.44490664e-01 9.89384904e-01 -1.54906231e-02 -2.30968894e+00] [-4.32035332e-02 9.33203744e-03 9.99022706e-01 -1.98224118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.32, Z:-1.98 [[ 9.88268159e-01 1.46673748e-01 4.25776634e-02 3.07912322e+01] [-1.46519436e-01 9.89184833e-01 -6.73953013e-03 -2.31994903e+00] [-4.31056910e-02 4.22007800e-04 9.99070429e-01 -1.98352804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.33, Z:-1.98 [[ 9.87600744e-01 1.50900254e-01 4.32883907e-02 3.08224981e+01] [-1.50744358e-01 9.88548962e-01 -6.86210428e-03 -2.32662766e+00] [-4.38281870e-02 2.51538649e-04 9.99039052e-01 -1.98486450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.33, Z:-1.99 [[ 9.87262918e-01 1.52916950e-01 4.39128274e-02 3.08548784e+01] [-1.52758307e-01 9.88239029e-01 -6.96575024e-03 -2.33324545e+00] [-4.44615512e-02 1.68977725e-04 9.99011082e-01 -1.98706850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.34, Z:-1.99 [[ 9.86978633e-01 1.54587360e-01 4.44513987e-02 3.08873666e+01] [-1.54426103e-01 9.87979118e-01 -7.05984803e-03 -2.33950056e+00] [-4.50084170e-02 1.03462882e-04 9.98986602e-01 -1.98880303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.35, Z:-1.99 [[ 9.86725341e-01 1.56137278e-01 4.46570531e-02 3.09203014e+01] [-1.55975717e-01 9.87735364e-01 -7.10118166e-03 -2.34512580e+00] [-4.52181097e-02 4.15000038e-05 9.98977137e-01 -1.99056633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.35, Z:-1.99 [[ 9.86213850e-01 1.59115642e-01 4.54362692e-02 3.09530318e+01] [-1.58951139e-01 9.87259948e-01 -7.23398414e-03 -2.35012575e+00] [-4.60084488e-02 -8.78914046e-05 9.98941047e-01 -1.99201718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.36, Z:-1.99 [[ 9.86005029e-01 1.60179350e-01 4.62240120e-02 3.09840537e+01] [-1.60009827e-01 9.87087918e-01 -7.36861861e-03 -2.35534913e+00] [-4.68074643e-02 -1.30801157e-04 9.98903921e-01 -1.99414953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.36, Z:-2.00 [[ 9.85914986e-01 1.60695268e-01 4.63537639e-02 3.10167339e+01] [-1.60524981e-01 9.87004057e-01 -7.39739425e-03 -2.36159067e+00] [-4.69400793e-02 -1.47735230e-04 9.98897696e-01 -1.99576301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.37, Z:-2.00 [[ 9.86243995e-01 1.58889452e-01 4.55732915e-02 3.10479033e+01] [-1.58945343e-01 9.87284423e-01 -2.41787915e-03 -2.37271411e+00] [-4.53779763e-02 -4.85904367e-03 9.98958072e-01 -1.99633892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.37, Z:-2.00 [[ 9.86381260e-01 1.58221025e-01 4.49234568e-02 3.10795927e+01] [-1.57834524e-01 9.87392092e-01 -1.20465365e-02 -2.37405130e+00] [-4.62630814e-02 4.79200541e-03 9.98917796e-01 -2.00081960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.38, Z:-2.00 [[ 9.86668745e-01 1.56294491e-01 4.53521704e-02 3.11117126e+01] [-1.56125893e-01 9.87710497e-01 -7.25810085e-03 -2.38329240e+00] [-4.59292160e-02 8.06931413e-05 9.98944693e-01 -2.00268721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.39, Z:-2.01 [[ 9.87203589e-01 1.52904284e-01 4.52697968e-02 3.11428980e+01] [-1.52732303e-01 9.88240972e-01 -7.25429295e-03 -2.39146160e+00] [-4.58466804e-02 2.47303694e-04 9.98948457e-01 -2.00521683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.40, Z:-2.01 [[ 9.87344935e-01 1.52103374e-01 4.48836638e-02 3.11753216e+01] [-1.51933114e-01 9.88364548e-01 -7.20067097e-03 -2.39844126e+00] [-4.54566684e-02 2.90231208e-04 9.98966269e-01 -2.00700584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972640000000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.41, Z:-2.01 [[ 9.87311493e-01 1.52355292e-01 4.47647316e-02 3.12078874e+01] [-1.52185788e-01 9.88325747e-01 -7.19048154e-03 -2.40501179e+00] [-4.53376448e-02 2.86689095e-04 9.98971679e-01 -2.01258114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.41, Z:-2.01 [[ 9.86968295e-01 1.54694908e-01 4.43065450e-02 3.12399372e+01] [-1.54530814e-01 9.87962272e-01 -7.12577336e-03 -2.41166698e+00] [-4.48755157e-02 1.86185915e-04 9.98992569e-01 -2.00987786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.42, Z:-2.01 [[ 9.86661427e-01 1.56661415e-01 4.42315355e-02 3.12712662e+01] [-1.56769347e-01 9.87634695e-01 -1.03954800e-03 -2.42044817e+00] [-4.38474561e-02 -5.90846701e-03 9.99020766e-01 -2.00834186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.42, Z:-2.01 [[ 9.86140413e-01 1.60088607e-01 4.35743574e-02 3.13039312e+01] [-1.59663306e-01 9.87084682e-01 -1.30942496e-02 -2.41929488e+00] [-4.51078209e-02 5.95554275e-03 9.98964372e-01 -2.01317145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.43, Z:-2.02 [[ 9.85712003e-01 1.62341517e-01 4.49118949e-02 3.13347693e+01] [-1.62179921e-01 9.86734620e-01 -7.24308748e-03 -2.42745925e+00] [-4.54919754e-02 -1.44209284e-04 9.98964694e-01 -2.01509431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.43, Z:-2.02 [[ 9.84959882e-01 1.66806335e-01 4.50519347e-02 3.13673096e+01] [-1.66648013e-01 9.85989619e-01 -7.27399995e-03 -2.43097043e+00] [-4.56340892e-02 -3.43217242e-04 9.98958163e-01 -2.01691674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.44, Z:-2.02 [[ 9.84706743e-01 1.68456199e-01 4.44425344e-02 3.13995868e+01] [-1.68303432e-01 9.85709057e-01 -7.18402642e-03 -2.43507482e+00] [-4.50176025e-02 -4.05671828e-04 9.98986111e-01 -2.01858158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.44, Z:-2.02 [[ 9.84542154e-01 1.69566355e-01 4.38634167e-02 3.14311477e+01] [-1.69695579e-01 9.85496215e-01 -7.87678846e-04 -2.44195671e+00] [-4.33607949e-02 -6.66792484e-03 9.99037227e-01 -2.01772310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.44, Z:-2.02 [[ 9.84441256e-01 1.70314838e-01 4.32234745e-02 3.14635034e+01] [-1.69892215e-01 9.85372942e-01 -1.32966522e-02 -2.43996986e+00] [-4.48558594e-02 5.74644115e-03 9.98976942e-01 -2.02321124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.45, Z:-2.02 [[ 9.84496123e-01 1.69803375e-01 4.39795093e-02 3.14950348e+01] [-1.69654244e-01 9.85477862e-01 -7.12881898e-03 -2.44914680e+00] [-4.45513304e-02 -4.43015758e-04 9.99006998e-01 -2.02456165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.47, Z:-2.03 [[ 9.84358739e-01 1.67354573e-01 5.50483319e-02 3.15244343e+01] [-1.68506460e-01 9.85554594e-01 1.69621592e-02 -2.46846982e+00] [-5.14144415e-02 -2.59728492e-02 9.98339605e-01 -2.02982348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.44, Z:-2.03 [[ 9.84345333e-01 1.71184480e-01 4.19540067e-02 3.15598369e+01] [-1.69927160e-01 9.84939404e-01 -3.19238210e-02 -2.44368894e+00] [-4.67870171e-02 2.42949390e-02 9.98609399e-01 -2.02723099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.46, Z:-2.03 [[ 9.84397307e-01 1.69855011e-01 4.59479763e-02 3.15905171e+01] [-1.69691358e-01 9.85468963e-01 -7.46769605e-03 -2.46316552e+00] [-4.65487302e-02 -4.45794640e-04 9.98915921e-01 -2.02992305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.47, Z:-2.03 [[ 9.84300413e-01 1.70257256e-01 4.65313178e-02 3.16219640e+01] [-1.70337012e-01 9.85383239e-01 -2.27490758e-03 -2.46873183e+00] [-4.62385001e-02 -5.68681316e-03 9.98914241e-01 -2.02896805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.46, Z:-2.03 [[ 9.83741414e-01 1.73335875e-01 4.69840987e-02 3.16555287e+01] [-1.72915923e-01 9.84852226e-01 -1.28909068e-02 -2.46430606e+00] [-4.85068508e-02 4.55702011e-03 9.98812454e-01 -2.03215480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.47, Z:-2.03 [[ 9.83552004e-01 1.74169571e-01 4.78582913e-02 3.16870145e+01] [-1.73996385e-01 9.84715452e-01 -7.79331972e-03 -2.47063299e+00] [-4.84841582e-02 -6.62034450e-04 9.98823732e-01 -2.03407236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.47, Z:-2.04 [[ 9.83385994e-01 1.75204973e-01 4.74889957e-02 3.17176924e+01] [-1.75035216e-01 9.84531731e-01 -7.74233447e-03 -2.47421442e+00] [-4.81109186e-02 -6.98543347e-04 9.98841755e-01 -2.03585778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.48, Z:-2.04 [[ 9.83236097e-01 1.76473088e-01 4.58696616e-02 3.17488553e+01] [-1.76315694e-01 9.84305198e-01 -7.48693218e-03 -2.47594738e+00] [-4.64709883e-02 -7.26119244e-04 9.98919376e-01 -2.03804943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.48, Z:-2.04 [[ 9.83186587e-01 1.76848476e-01 4.54835207e-02 3.17779529e+01] [-1.76694064e-01 9.84237814e-01 -7.42518222e-03 -2.47839207e+00] [-4.60797332e-02 -7.36328581e-04 9.98937494e-01 -2.03999538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.48, Z:-2.04 [[ 9.83171503e-01 1.76878909e-01 4.56907722e-02 3.18075737e+01] [-1.76723078e-01 9.84232342e-01 -7.45989689e-03 -2.47993311e+00] [-4.62898342e-02 -7.40255866e-04 9.98927777e-01 -2.04168640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.48, Z:-2.04 [[ 9.83186910e-01 1.76690159e-01 4.60878215e-02 3.18386572e+01] [-1.76531433e-01 9.84266246e-01 -7.52400541e-03 -2.48110600e+00] [-4.66921047e-02 -7.38445551e-04 9.98909056e-01 -2.04303906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.48, Z:-2.04 [[ 9.83555155e-01 1.74684911e-01 4.58741698e-02 3.18696693e+01] [-1.74696429e-01 9.84615052e-01 -3.78904559e-03 -2.48046152e+00] [-4.58302872e-02 -4.28731834e-03 9.98940040e-01 -2.04267387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.48, Z:-2.05 [[ 9.83719961e-01 1.73648734e-01 4.62726332e-02 3.19008112e+01] [-1.73314926e-01 9.84803206e-01 -1.11616091e-02 -2.47930816e+00] [-4.75076368e-02 2.96015965e-03 9.98866489e-01 -2.04696084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.48, Z:-2.05 [[ 9.84068050e-01 1.71696190e-01 4.61572457e-02 3.19303439e+01] [-1.71531150e-01 9.85149823e-01 -7.54263086e-03 -2.48432454e+00] [-4.67668434e-02 -4.94943399e-04 9.98905710e-01 -2.04919410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.49, Z:-2.05 [[ 9.84427387e-01 1.69707072e-01 4.58500650e-02 3.19599907e+01] [-1.69542058e-01 9.85494471e-01 -7.49259603e-03 -2.48725100e+00] [-4.64565321e-02 -3.97597652e-04 9.98920233e-01 -2.05131911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.49, Z:-2.05 [[ 9.85138275e-01 1.65672648e-01 4.53338029e-02 3.19900501e+01] [-1.65507084e-01 9.86180780e-01 -7.40768156e-03 -2.48801316e+00] [-4.59345753e-02 -2.05474876e-04 9.98944429e-01 -2.05348782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.50, Z:-2.06 [[ 9.85202598e-01 1.62033568e-01 5.58655810e-02 3.20161251e+01] [-1.63187379e-01 9.86453408e-01 1.67198574e-02 -2.50437012e+00] [-5.23996146e-02 -2.55890047e-02 9.98298294e-01 -2.06011609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.48, Z:-2.06 [[ 9.85697052e-01 1.63411503e-01 4.12068302e-02 3.20526945e+01] [-1.62156869e-01 9.86240554e-01 -3.21670656e-02 -2.47841873e+00] [-4.58963155e-02 2.50250111e-02 9.98632704e-01 -2.05534305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.49, Z:-2.06 [[ 9.86404015e-01 1.57698299e-01 4.62424771e-02 3.20793201e+01] [-1.57517309e-01 9.87487326e-01 -7.55508226e-03 -2.49429304e+00] [-4.68552837e-02 1.68372933e-04 9.98901674e-01 -2.05904925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.50, Z:-2.06 [[ 9.86766551e-01 1.55200335e-01 4.69534823e-02 3.21102336e+01] [-1.55010955e-01 9.87882975e-01 -7.67022067e-03 -2.49832413e+00] [-4.75749665e-02 2.90413075e-04 9.98867628e-01 -2.06083997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.50, Z:-2.06 [[ 9.87184355e-01 1.52683694e-01 4.64191617e-02 3.21416424e+01] [-1.52459970e-01 9.88274428e-01 -8.34340356e-03 -2.50147022e+00] [-4.71487721e-02 1.15941349e-03 9.98887205e-01 -2.06256054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.52, Z:-2.07 [[ 9.87696963e-01 1.46246760e-01 5.53768493e-02 3.21731085e+01] [-1.47157187e-01 9.89031402e-01 1.27141321e-02 -2.51833537e+00] [-5.29100423e-02 -2.07068110e-02 9.98384573e-01 -2.06805567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.50, Z:-2.06 [[ 9.88220050e-01 1.46722267e-01 4.35167650e-02 3.22077950e+01] [-1.45517935e-01 9.88910420e-01 -2.96767874e-02 -2.49902204e+00] [-4.73884279e-02 2.29947266e-02 9.98611826e-01 -2.06470360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.52, Z:-2.07 [[ 9.88576224e-01 1.43055302e-01 4.74576716e-02 3.22385228e+01] [-1.42846971e-01 9.89714285e-01 -7.77021482e-03 -2.51768342e+00] [-4.80811060e-02 9.02264973e-04 9.98843027e-01 -2.06815774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.53, Z:-2.07 [[ 9.89225145e-01 1.38944737e-01 4.61299486e-02 3.22697280e+01] [-1.38743024e-01 9.90299547e-01 -7.56172600e-03 -2.52514703e+00] [-4.67331292e-02 1.08004094e-03 9.98906827e-01 -2.07038316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.53, Z:-2.07 [[ 9.89458002e-01 1.37346062e-01 4.59229873e-02 3.23014786e+01] [-1.37144042e-01 9.90522446e-01 -7.53627344e-03 -2.53159156e+00] [-4.65228272e-02 1.15876198e-03 9.98916555e-01 -2.07242525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.54, Z:-2.07 [[ 9.89759747e-01 1.34905459e-01 4.66493244e-02 3.23329686e+01] [-1.34693901e-01 9.90857620e-01 -7.66357671e-03 -2.53996538e+00] [-4.72566969e-02 1.30172028e-03 9.98881930e-01 -2.07466720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082640000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.55, Z:-2.08 [[ 9.89835605e-01 1.34299849e-01 4.67870196e-02 3.23650307e+01] [-1.34085997e-01 9.90939831e-01 -7.69393128e-03 -2.54710236e+00] [-4.73964151e-02 1.34224297e-03 9.98875257e-01 -2.07611771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.55, Z:-2.08 [[ 9.89822133e-01 1.34549246e-01 4.63534744e-02 3.23959950e+01] [-1.34188010e-01 9.90896679e-01 -1.08328186e-02 -2.55194780e+00] [-4.73890514e-02 4.50248306e-03 9.98866360e-01 -2.07896972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.56, Z:-2.08 [[ 9.89811263e-01 1.34065853e-01 4.79584371e-02 3.24275545e+01] [-1.34003949e-01 9.90970498e-01 -4.51822467e-03 -2.56361785e+00] [-4.81311359e-02 -1.95443027e-03 9.98839113e-01 -2.07993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.57, Z:-2.08 [[ 9.89693101e-01 1.35407603e-01 4.66084446e-02 3.24591794e+01] [-1.35195331e-01 9.90789111e-01 -7.69158549e-03 -2.57250761e+00] [-4.72206386e-02 1.31106501e-03 9.98883623e-01 -2.08233276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.58, Z:-2.08 [[ 9.89508108e-01 1.36802006e-01 4.64641250e-02 3.24914208e+01] [-1.36592457e-01 9.90597630e-01 -7.67042418e-03 -2.58090353e+00] [-4.70765815e-02 1.24329793e-03 9.98890509e-01 -2.08423629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:-2.59, Z:-2.09 [[ 9.89234815e-01 1.38717359e-01 4.66044647e-02 3.25222667e+01] [-1.38508220e-01 9.90331327e-01 -7.70297330e-03 -2.58814101e+00] [-4.72223975e-02 1.16494792e-03 9.98883721e-01 -2.08536242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:-2.59, Z:-2.09 [[ 9.88817545e-01 1.41562797e-01 4.69024180e-02 3.25533231e+01] [-1.41353754e-01 9.89928727e-01 -7.76093533e-03 -2.59489796e+00] [-4.75287107e-02 1.04431614e-03 9.98869326e-01 -2.08763450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:-2.60, Z:-2.09 [[ 9.87777996e-01 1.48743263e-01 4.65840334e-02 3.25848750e+01] [-1.48544569e-01 9.88875597e-01 -7.71780210e-03 -2.60362855e+00] [-4.72137849e-02 7.03669939e-04 9.98884560e-01 -2.08927221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.61, Z:-2.09 [[ 9.87105247e-01 1.53121543e-01 4.66585990e-02 3.26162674e+01] [-1.52926961e-01 9.88207238e-01 -7.73299925e-03 -2.61140909e+00] [-4.72924540e-02 4.97926384e-04 9.98880962e-01 -2.09062743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.62, Z:-2.09 [[ 9.85669929e-01 1.62073590e-01 4.67647618e-02 3.26481762e+01] [-1.61887787e-01 9.86778671e-01 -7.75880922e-03 -2.61924338e+00] [-4.74039676e-02 7.69811359e-05 9.98875797e-01 -2.09180545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.63, Z:-2.09 [[ 9.84923745e-01 1.66542942e-01 4.67831638e-02 3.26800035e+01] [-1.66361581e-01 9.86034194e-01 -7.77124464e-03 -2.62513481e+00] [-4.74240451e-02 -1.28837731e-04 9.98874839e-01 -2.09436711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.63, Z:-2.10 [[ 9.84303275e-01 1.70270757e-01 4.64212399e-02 3.27102845e+01] [-1.70095847e-01 9.85397271e-01 -7.72146577e-03 -2.63065434e+00] [-4.70581030e-02 -2.95796093e-04 9.98892110e-01 -2.09646713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.64, Z:-2.10 [[ 9.83358039e-01 1.75803746e-01 4.58258663e-02 3.27397102e+01] [-1.75639230e-01 9.84425080e-01 -7.62381440e-03 -2.63617162e+00] [-4.64524272e-02 -5.51880682e-04 9.98920351e-01 -2.09874735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.64, Z:-2.10 [[ 9.83036080e-01 1.77688329e-01 4.54634217e-02 3.27703885e+01] [-1.77528420e-01 9.84086609e-01 -7.56351634e-03 -2.64016762e+00] [-4.60838930e-02 -6.35839945e-04 9.98937371e-01 -2.10090963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.64, Z:-2.10 [[ 9.82801582e-01 1.79040402e-01 4.52281482e-02 3.28010838e+01] [-1.78883575e-01 9.83841476e-01 -7.52437510e-03 -2.64398066e+00] [-4.58444952e-02 -6.95605069e-04 9.98948346e-01 -2.10293813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.65, Z:-2.11 [[ 9.82433152e-01 1.81070716e-01 4.51497302e-02 3.28306301e+01] [-1.80916581e-01 9.83469762e-01 -7.51116616e-03 -2.64686589e+00] [-4.57634467e-02 -7.89116189e-04 9.98951993e-01 -2.10506936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.65, Z:-2.11 [[ 9.82280436e-01 1.81865849e-01 4.52764574e-02 3.28595317e+01] [-1.81711643e-01 9.83323003e-01 -7.53330167e-03 -2.65124447e+00] [-4.58914324e-02 -8.27444603e-04 9.98946091e-01 -2.10634719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.66, Z:-2.11 [[ 9.82151378e-01 1.82462985e-01 4.56719861e-02 3.28876625e+01] [-1.82306769e-01 9.83212344e-01 -7.59797116e-03 -2.65502604e+00] [-4.62916090e-02 -8.63954380e-04 9.98927595e-01 -2.10767651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.66, Z:-2.11 [[ 9.82035214e-01 1.82993505e-01 4.60457968e-02 3.29166069e+01] [-1.82835350e-01 9.83113713e-01 -7.65914468e-03 -2.65804836e+00] [-4.66698279e-02 -8.97249592e-04 9.98909967e-01 -2.10874154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.66, Z:-2.11 [[ 9.81878455e-01 1.83707395e-01 4.65434588e-02 3.29457979e+01] [-1.83546677e-01 9.82980521e-01 -7.74036314e-03 -2.65744030e+00] [-4.71732753e-02 -9.42801391e-04 9.98886276e-01 -2.11018707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.66, Z:-2.11 [[ 9.81922017e-01 1.83617119e-01 4.59772422e-02 3.29744917e+01] [-1.83460300e-01 9.82997401e-01 -7.64383629e-03 -2.65939661e+00] [-4.65990488e-02 -9.29347508e-04 9.98913242e-01 -2.11207789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.66, Z:-2.11 [[ 9.82033920e-01 1.83069676e-01 4.57697872e-02 3.30037983e+01] [-1.82913746e-01 9.83099528e-01 -7.60782861e-03 -2.66147478e+00] [-4.63890189e-02 -9.00777472e-04 9.98923044e-01 -2.11402343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.66, Z:-2.12 [[ 9.82359410e-01 1.80968426e-01 4.71213220e-02 3.30333713e+01] [-1.80800842e-01 9.83488558e-01 -7.83016474e-03 -2.66200977e+00] [-4.77602936e-02 -8.27538712e-04 9.98858483e-01 -2.11583161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.66, Z:-2.12 [[ 9.82637382e-01 1.79293868e-01 4.77229997e-02 3.30628333e+01] [-1.79120130e-01 9.83795270e-01 -7.92747499e-03 -2.66480687e+00] [-4.83710090e-02 -7.58316657e-04 9.98829150e-01 -2.11698101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802640000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.67, Z:-2.12 [[ 9.82975429e-01 1.77457114e-01 4.76264461e-02 3.30908859e+01] [-1.77281976e-01 9.84128308e-01 -7.91037633e-03 -2.66729113e+00] [-4.82742864e-02 -6.67604900e-04 9.98833894e-01 -2.12090796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.67, Z:-2.12 [[ 9.83576506e-01 1.74074578e-01 4.77000874e-02 3.31201592e+01] [-1.73895014e-01 9.84732343e-01 -7.92068070e-03 -2.66885055e+00] [-4.83506080e-02 -5.04211896e-04 9.98830298e-01 -2.11985173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.67, Z:-2.12 [[ 9.83847479e-01 1.72331086e-01 4.84369248e-02 3.31498036e+01] [-1.72143875e-01 9.85038992e-01 -8.04182898e-03 -2.67182280e+00] [-4.90981167e-02 -4.26186789e-04 9.98793869e-01 -2.12146651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.67, Z:-2.12 [[ 9.84133131e-01 1.70556158e-01 4.89139895e-02 3.31793110e+01] [-1.70363107e-01 9.85347898e-01 -8.11984651e-03 -2.67413860e+00] [-4.95821865e-02 -3.42129243e-04 9.98769988e-01 -2.12287098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.67, Z:-2.13 [[ 9.84542800e-01 1.68361472e-01 4.82689355e-02 3.32089025e+01] [-1.68170921e-01 9.85725297e-01 -8.01122754e-03 -2.67289900e+00] [-4.89286929e-02 -2.30034930e-04 9.98802248e-01 -2.12596873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.68, Z:-2.13 [[ 9.84649975e-01 1.67775327e-01 4.81234575e-02 3.32388265e+01] [-1.67585176e-01 9.85825238e-01 -7.98803589e-03 -2.67593863e+00] [-4.87815143e-02 -1.99358783e-04 9.98809453e-01 -2.12612013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:-2.68, Z:-2.13 [[ 9.84820518e-01 1.66986272e-01 4.73722835e-02 3.32674793e+01] [-1.66801158e-01 9.85959208e-01 -7.86218048e-03 -2.67728615e+00] [-4.80200153e-02 -1.58915081e-04 9.98846361e-01 -2.12808975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.68, Z:-2.13 [[ 9.84876975e-01 1.66789169e-01 4.68904839e-02 3.32962515e+01] [-1.66607623e-01 9.85992572e-01 -7.78131153e-03 -2.68052234e+00] [-4.75315073e-02 -1.48677520e-04 9.98869728e-01 -2.13049366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.68, Z:-2.13 [[ 9.84923417e-01 1.66624348e-01 4.64993442e-02 3.33242409e+01] [-1.66445733e-01 9.86020439e-01 -7.71435142e-03 -2.68326565e+00] [-4.71347026e-02 -1.41572095e-04 9.98888532e-01 -2.13247317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.69, Z:-2.13 [[ 9.84936347e-01 1.66608389e-01 4.62821409e-02 3.33528223e+01] [-1.66431572e-01 9.86023136e-01 -7.67511957e-03 -2.68551723e+00] [-4.69140010e-02 -1.43305246e-04 9.98898922e-01 -2.13339281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.68, Z:-2.13 [[ 9.84863581e-01 1.67186246e-01 4.57436910e-02 3.33814820e+01] [-1.67014238e-01 9.85925317e-01 -7.58383883e-03 -2.68484126e+00] [-4.63677766e-02 -1.70801010e-04 9.98924422e-01 -2.13476004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.69, Z:-2.14 [[ 9.84842083e-01 1.67301979e-01 4.57833979e-02 3.34097554e+01] [-1.67129943e-01 9.85905683e-01 -7.58725537e-03 -2.68696020e+00] [-4.64074750e-02 -1.79528302e-04 9.98922577e-01 -2.13876361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.69, Z:-2.14 [[ 9.84752188e-01 1.67798607e-01 4.58994127e-02 3.34374755e+01] [-1.67626339e-01 9.85821275e-01 -7.60428575e-03 -2.69028174e+00] [-4.65246061e-02 -2.05613489e-04 9.98917123e-01 -2.13760820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.69, Z:-2.14 [[ 9.84743480e-01 1.67754665e-01 4.62455449e-02 3.34657883e+01] [-1.67579885e-01 9.85828752e-01 -7.65851945e-03 -2.69265584e+00] [-4.68749402e-02 -2.08146007e-04 9.98900744e-01 -2.13929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:-2.70, Z:-2.14 [[ 9.84749559e-01 1.67718868e-01 4.62459385e-02 3.34946847e+01] [-1.67544161e-01 9.85834843e-01 -7.65614211e-03 -2.69735668e+00] [-4.68749370e-02 -2.08854399e-04 9.98900744e-01 -2.14101862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.70, Z:-2.14 [[ 9.84878432e-01 1.66923663e-01 4.63784927e-02 3.35230113e+01] [-1.66747140e-01 9.85969807e-01 -7.67663626e-03 -2.69887992e+00] [-4.70092057e-02 -1.72927508e-04 9.98894441e-01 -2.14262242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:-2.70, Z:-2.14 [[ 9.85073819e-01 1.65741534e-01 4.64684396e-02 3.35508614e+01] [-1.65563146e-01 9.86169220e-01 -7.68862507e-03 -2.70252456e+00] [-4.71000694e-02 -1.19597818e-04 9.98890169e-01 -2.14455567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.71, Z:-2.15 [[ 9.85336693e-01 1.64194958e-01 4.63855324e-02 3.35793834e+01] [-1.64015631e-01 9.86427906e-01 -7.67199975e-03 -2.70591086e+00] [-4.70156873e-02 -4.84494869e-05 9.98894150e-01 -2.14585776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.71, Z:-2.15 [[ 9.85871881e-01 1.61107400e-01 4.58370951e-02 3.36075336e+01] [-1.60929048e-01 9.86936876e-01 -7.57924576e-03 -2.70706335e+00] [-4.64593920e-02 9.56451988e-05 9.98920175e-01 -2.14749544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.71, Z:-2.15 [[ 9.86141347e-01 1.59403427e-01 4.59977224e-02 3.36357004e+01] [-1.59222105e-01 9.87213512e-01 -7.60288591e-03 -2.71076830e+00] [-4.66214991e-02 1.73665958e-04 9.98912612e-01 -2.14938057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.72, Z:-2.15 [[ 9.86424361e-01 1.57600782e-01 4.61407891e-02 3.36639261e+01] [-1.57416462e-01 9.87502874e-01 -7.62434042e-03 -2.71552736e+00] [-4.67657639e-02 2.57515374e-04 9.98905850e-01 -2.15127030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.72, Z:-2.15 [[ 9.86783008e-01 1.55128521e-01 4.68448159e-02 3.36922671e+01] [-1.54935855e-01 9.87894225e-01 -7.73833612e-03 -2.72055828e+00] [-4.74781598e-02 3.78116961e-04 9.98872205e-01 -2.15269068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.72, Z:-2.15 [[ 9.86880553e-01 1.54435079e-01 4.70805695e-02 3.37195073e+01] [-1.54239783e-01 9.88002853e-01 -7.77510614e-03 -2.72427535e+00] [-4.77164861e-02 4.11404210e-04 9.98860835e-01 -2.15369599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.73, Z:-2.16 [[ 9.86961914e-01 1.53962031e-01 4.69241251e-02 3.37473081e+01] [-1.53767645e-01 9.88076671e-01 -7.74615798e-03 -2.72898129e+00] [-4.75572476e-02 4.29750693e-04 9.98868422e-01 -2.15541218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.74, Z:-2.16 [[ 9.87053622e-01 1.53602934e-01 4.61658552e-02 3.37757086e+01] [-1.53414473e-01 9.88132555e-01 -7.61923068e-03 -2.73618673e+00] [-4.67883206e-02 4.38078880e-04 9.98904731e-01 -2.15735639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.74, Z:-2.16 [[ 9.86978867e-01 1.53945811e-01 4.66197781e-02 3.38040796e+01] [-1.53754048e-01 9.88079201e-01 -7.69326706e-03 -2.74077048e+00] [-4.72483793e-02 4.25112428e-04 9.98883081e-01 -2.15863687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.75, Z:-2.16 [[ 9.86846654e-01 1.54698939e-01 4.69246154e-02 3.38327007e+01] [-1.54505632e-01 9.87961582e-01 -7.74096026e-03 -2.74534901e+00] [-4.75572356e-02 3.89023350e-04 9.98868439e-01 -2.15995981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:-2.75, Z:-2.16 [[ 9.86556484e-01 1.56430112e-01 4.72855518e-02 3.38608576e+01] [-1.56235861e-01 9.87688982e-01 -7.79933782e-03 -2.75127243e+00] [-4.79234698e-02 3.06788395e-04 9.98850963e-01 -2.16121267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.76, Z:-2.16 [[ 9.86437886e-01 1.57185100e-01 4.72561292e-02 3.38890971e+01] [-1.56992032e-01 9.87569123e-01 -7.79291375e-03 -2.75618165e+00] [-4.78936240e-02 2.68389620e-04 9.98852406e-01 -2.16246373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.76, Z:-2.16 [[ 9.86334830e-01 1.57934121e-01 4.69086027e-02 3.39178174e+01] [-1.57744837e-01 9.87449625e-01 -7.73336149e-03 -2.76088578e+00] [-4.75412438e-02 2.28093883e-04 9.98869250e-01 -2.16407017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.77, Z:-2.17 [[ 9.86344094e-01 1.58006320e-01 4.64686105e-02 3.39450102e+01] [-1.57820752e-01 9.87438076e-01 -7.65871358e-03 -2.76709409e+00] [-4.70950005e-02 2.20415856e-04 9.98890391e-01 -2.16638692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:-2.77, Z:-2.17 [[ 9.86475759e-01 1.57278155e-01 4.61428081e-02 3.39724043e+01] [-1.57094522e-01 9.87554312e-01 -7.60209076e-03 -2.77329072e+00] [-4.67641719e-02 2.50495872e-04 9.98905926e-01 -2.16811171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.78, Z:-2.17 [[ 9.86645542e-01 1.56288169e-01 4.58757318e-02 3.40013293e+01] [-1.56105703e-01 9.87711457e-01 -7.55560985e-03 -2.77985054e+00] [-4.64928383e-02 2.93245395e-04 9.98918580e-01 -2.16955503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.79, Z:-2.17 [[ 9.87011162e-01 1.53790811e-01 4.64473069e-02 3.40287873e+01] [-1.53601050e-01 9.88103342e-01 -7.64873726e-03 -2.78868485e+00] [-4.70710446e-02 4.15033946e-04 9.98891458e-01 -2.17119241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.80, Z:-2.17 [[ 9.87230818e-01 1.52472832e-01 4.61231699e-02 3.40564707e+01] [-1.52284358e-01 9.88307549e-01 -7.59355707e-03 -2.79564447e+00] [-4.67416882e-02 4.72756225e-04 9.98906898e-01 -2.17281651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.80, Z:-2.17 [[ 9.87392579e-01 1.51646754e-01 4.53779322e-02 3.40854302e+01] [-1.51463504e-01 9.88434626e-01 -7.46977910e-03 -2.80203696e+00] [-4.59858872e-02 5.02503840e-04 9.98941963e-01 -2.17412475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.81, Z:-2.18 [[ 9.87551138e-01 1.50897313e-01 4.44156555e-02 3.41140577e+01] [-1.50721045e-01 9.88549304e-01 -7.31034442e-03 -2.80733485e+00] [-4.50101767e-02 5.24964935e-04 9.98986391e-01 -2.17782267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.82, Z:-2.18 [[ 9.87463634e-01 1.51383310e-01 4.47064213e-02 3.41421690e+01] [-1.51205279e-01 9.88475007e-01 -7.35696220e-03 -2.81616893e+00] [-4.53049014e-02 5.04885714e-04 9.98973078e-01 -2.17711130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:-2.82, Z:-2.18 [[ 9.87347910e-01 1.52184537e-01 4.45417837e-02 3.41709616e+01] [-1.52008647e-01 9.88351987e-01 -7.32950085e-03 -2.82335217e+00] [-4.51383971e-02 4.66031061e-04 9.98980634e-01 -2.17895477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-2.83, Z:-2.18 [[ 9.86961242e-01 1.55033001e-01 4.32697954e-02 3.41995441e+01] [-1.54869797e-01 9.87909238e-01 -7.11920670e-03 -2.83081246e+00] [-4.38503426e-02 3.25196639e-04 9.99038058e-01 -2.18011060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-2.84, Z:-2.18 [[ 9.86701047e-01 1.56658217e-01 4.33502790e-02 3.42271758e+01] [-1.56496017e-01 9.87652844e-01 -7.13142260e-03 -2.83615606e+00] [-4.39322223e-02 2.52436146e-04 9.99034482e-01 -2.18174895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.84, Z:-2.18 [[ 9.86457918e-01 1.58142818e-01 4.34928193e-02 3.42563506e+01] [-1.57981037e-01 9.87416232e-01 -7.15383322e-03 -2.84144444e+00] [-4.40768431e-02 1.85914709e-04 9.99028126e-01 -2.18300655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.85, Z:-2.18 [[ 9.86034435e-01 1.60549395e-01 4.42717119e-02 3.42842600e+01] [-1.60384230e-01 9.87027804e-01 -7.28100986e-03 -2.84599893e+00] [-4.48663723e-02 7.88420147e-05 9.98992994e-01 -2.18442881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.85, Z:-2.19 [[ 9.85947333e-01 1.60926893e-01 4.48373828e-02 3.43122698e+01] [-1.60757952e-01 9.86966327e-01 -7.37221445e-03 -2.85123654e+00] [-4.54393746e-02 6.06493460e-05 9.98967096e-01 -2.18626008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.86, Z:-2.19 [[ 9.85982764e-01 1.60609543e-01 4.51947284e-02 3.43414337e+01] [-1.60437613e-01 9.87018019e-01 -7.42990268e-03 -2.85777150e+00] [-4.58013246e-02 7.48216497e-05 9.98950566e-01 -2.18870150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.87, Z:-2.19 [[ 9.86301823e-01 1.58717439e-01 4.49164670e-02 3.43688839e+01] [-1.58545699e-01 9.87324034e-01 -7.38328135e-03 -2.86701580e+00] [-4.55189629e-02 1.60831214e-04 9.98963462e-01 -2.19100989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.87, Z:-2.19 [[ 9.86477889e-01 1.57580469e-01 4.50529629e-02 3.43968488e+01] [-1.57406569e-01 9.87506127e-01 -7.40415430e-03 -2.87271429e+00] [-4.56568270e-02 2.12402213e-04 9.98957161e-01 -2.19324972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.88, Z:-2.19 [[ 9.86703006e-01 1.56181138e-01 4.49958907e-02 3.44252549e+01] [-1.56006294e-01 9.87728392e-01 -7.39324112e-03 -2.87793927e+00] [-4.55984035e-02 2.75291108e-04 9.98959814e-01 -2.19458188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.88, Z:-2.20 [[ 9.86877941e-01 1.55035830e-01 4.51200716e-02 3.44540823e+01] [-1.54858899e-01 9.87908793e-01 -7.41196603e-03 -2.88370867e+00] [-4.57236358e-02 3.27461152e-04 9.98954074e-01 -2.19608157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:-2.89, Z:-2.20 [[ 9.87174023e-01 1.53092767e-01 4.52775190e-02 3.44844514e+01] [-1.52912630e-01 9.88211734e-01 -7.43620864e-03 -2.89251261e+00] [-4.58822053e-02 4.17327490e-04 9.98946770e-01 -2.19743972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:-2.90, Z:-2.20 [[ 9.87233958e-01 1.52627797e-01 4.55397400e-02 3.45151825e+01] [-1.52445096e-01 9.88283644e-01 -7.47872500e-03 -2.90040795e+00] [-4.61476415e-02 4.40941229e-04 9.98934533e-01 -2.19890111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.91, Z:-2.20 [[ 9.87323254e-01 1.51909969e-01 4.60016629e-02 3.45446347e+01] [-1.51722330e-01 9.88394214e-01 -7.56383709e-03 -2.90861444e+00] [-4.66167998e-02 4.88472747e-04 9.98912727e-01 -2.20102884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:-2.92, Z:-2.20 [[ 9.87550643e-01 1.50501520e-01 4.57495387e-02 3.45755987e+01] [-1.50314484e-01 9.88609624e-01 -7.52107850e-03 -2.92034591e+00] [-4.63603680e-02 5.50627596e-04 9.98924628e-01 -2.20341472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.93, Z:-2.21 [[ 9.87596462e-01 1.50345614e-01 4.52705611e-02 3.46069869e+01] [-1.50161982e-01 9.88633341e-01 -7.44954705e-03 -2.92820250e+00] [-4.58759929e-02 5.59229138e-04 9.98946986e-01 -2.20517414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.94, Z:-2.21 [[ 9.87575072e-01 1.50607592e-01 4.48645673e-02 3.46387781e+01] [-1.50427206e-01 9.88593472e-01 -7.38944511e-03 -2.93541613e+00] [-4.54657248e-02 5.48780310e-04 9.98965749e-01 -2.20711094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.94, Z:-2.21 [[ 9.87441941e-01 1.51626787e-01 4.43591172e-02 3.46701130e+01] [-1.51451099e-01 9.88437688e-01 -7.31448195e-03 -2.94496289e+00] [-4.49552947e-02 5.04389187e-04 9.98988872e-01 -2.20906414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.95, Z:-2.21 [[ 9.87363073e-01 1.52195289e-01 4.41673711e-02 3.47019054e+01] [-1.52021310e-01 9.88350322e-01 -7.29125070e-03 -2.95389979e+00] [-4.47625295e-02 4.84730082e-04 9.98997538e-01 -2.21151374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.96, Z:-2.21 [[ 9.87275627e-01 1.52748435e-01 4.42125754e-02 3.47328556e+01] [-1.52574259e-01 9.88264993e-01 -7.30751236e-03 -2.96304896e+00] [-4.48099516e-02 4.68827918e-04 9.98995420e-01 -2.21320107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-2.97, Z:-2.21 [[ 9.87026964e-01 1.53854888e-01 4.58960381e-02 3.47630331e+01] [-1.53667971e-01 9.88093354e-01 -7.59458918e-03 -2.97429149e+00] [-4.65180349e-02 4.43313260e-04 9.98917352e-01 -2.21431268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.98, Z:-2.22 [[ 9.86910269e-01 1.54509852e-01 4.62041778e-02 3.47946544e+01] [-1.54320748e-01 9.87991157e-01 -7.65377075e-03 -2.98228437e+00] [-4.68319021e-02 4.23321656e-04 9.98902695e-01 -2.21619208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.99, Z:-2.22 [[ 9.86788861e-01 1.55398817e-01 4.58143132e-02 3.48266473e+01] [-1.55213456e-01 9.87851739e-01 -7.59768399e-03 -2.99122753e+00] [-4.64384200e-02 3.86312067e-04 9.98921080e-01 -2.21822217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.00, Z:-2.22 [[ 9.86525702e-01 1.57186774e-01 4.53801490e-02 3.48580992e+01] [-1.57006391e-01 9.87568845e-01 -7.53459869e-03 -3.00266287e+00] [-4.60003606e-02 3.08101839e-04 9.98941376e-01 -2.22067467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.01, Z:-2.22 [[ 9.86348898e-01 1.58327231e-01 4.52585872e-02 3.48892374e+01] [-1.58148594e-01 9.87386661e-01 -7.52354209e-03 -3.01007413e+00] [-4.58789069e-02 2.63255508e-04 9.98946974e-01 -2.22252761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.92, Y:-3.02, Z:-2.23 [[ 9.86190008e-01 1.59431067e-01 4.48442133e-02 3.49214496e+01] [-1.59256462e-01 9.87209039e-01 -7.46269116e-03 -3.01743923e+00] [-4.54603975e-02 2.17900707e-04 9.98966118e-01 -2.22569824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.03, Z:-2.23 [[ 9.85855067e-01 1.61612164e-01 4.43992658e-02 3.49514685e+01] [-1.61442828e-01 9.86854342e-01 -7.39733334e-03 -3.03000637e+00] [-4.50111073e-02 1.24755542e-04 9.98986479e-01 -2.22667360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:-3.04, Z:-2.23 [[ 9.85670809e-01 1.62853742e-01 4.39512845e-02 3.49834978e+01] [-1.62688661e-01 9.86650218e-01 -7.33121152e-03 -3.03809321e+00] [-4.45584597e-02 7.57855789e-05 9.99006776e-01 -2.22805466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.05, Z:-2.23 [[ 9.85447450e-01 1.64202083e-01 4.39431409e-02 3.50159413e+01] [-1.64038019e-01 9.86426721e-01 -7.33846300e-03 -3.04567702e+00] [-4.45516793e-02 2.33238788e-05 9.99007081e-01 -2.22980860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.06, Z:-2.23 [[ 9.84952787e-01 1.67014423e-01 4.44318553e-02 3.50467089e+01] [-1.66849128e-01 9.85954448e-01 -7.42933883e-03 -3.05576308e+00] [-4.50485921e-02 -9.58683162e-05 9.98984792e-01 -2.23154376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.06, Z:-2.23 [[ 9.84730286e-01 1.68297773e-01 4.45210371e-02 3.50786343e+01] [-1.68132750e-01 9.85736191e-01 -7.45253709e-03 -3.06391098e+00] [-4.51402429e-02 -1.46705427e-04 9.98980649e-01 -2.23325775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.07, Z:-2.24 [[ 9.84517710e-01 1.69446192e-01 4.48649812e-02 3.51098609e+01] [-1.69279351e-01 9.85539422e-01 -7.51994997e-03 -3.07218714e+00] [-4.54904345e-02 -1.91190983e-04 9.98964756e-01 -2.23534281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.08, Z:-2.24 [[ 9.84371790e-01 1.70259327e-01 4.49882256e-02 3.51421959e+01] [-1.70092207e-01 9.85399265e-01 -7.54519700e-03 -3.08014639e+00] [-4.56160045e-02 -2.24867510e-04 9.98959023e-01 -2.23770695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.09, Z:-2.24 [[ 9.84287560e-01 1.70782805e-01 4.48467751e-02 3.51744686e+01] [-1.70616890e-01 9.85308670e-01 -7.53001055e-03 -3.08767527e+00] [-4.54739127e-02 -2.39921583e-04 9.98965498e-01 -2.23965155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.10, Z:-2.24 [[ 9.84222771e-01 1.71187401e-01 4.47259543e-02 3.52058685e+01] [-1.71022393e-01 9.85238454e-01 -7.51861710e-03 -3.09689868e+00] [-4.53528226e-02 -2.49145569e-04 9.98971000e-01 -2.24143734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.11, Z:-2.24 [[ 9.84220215e-01 1.71209076e-01 4.46992224e-02 3.52371763e+01] [-1.71043871e-01 9.85234690e-01 -7.52328688e-03 -3.10536410e+00] [-4.53272795e-02 -2.40956996e-04 9.98972162e-01 -2.24374859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.11, Z:-2.25 [[ 9.84269580e-01 1.70957778e-01 4.45738833e-02 3.52691393e+01] [-1.70792871e-01 9.85278331e-01 -7.51039480e-03 -3.11436909e+00] [-4.52016418e-02 -2.20648348e-04 9.98977859e-01 -2.24586145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.13, Z:-2.25 [[ 9.84449747e-01 1.70029616e-01 4.41432417e-02 3.53004501e+01] [-1.69866570e-01 9.85438938e-01 -7.44626592e-03 -3.12512407e+00] [-4.47665550e-02 -1.67986463e-04 9.98997461e-01 -2.24733663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.13, Z:-2.25 [[ 9.84487570e-01 1.69714680e-01 4.45101291e-02 3.53315604e+01] [-1.69548133e-01 9.85493230e-01 -7.51825212e-03 -3.13237640e+00] [-4.51403886e-02 -1.44983523e-04 9.98980643e-01 -2.24953517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.14, Z:-2.25 [[ 9.84473627e-01 1.69795808e-01 4.45091208e-02 3.53645160e+01] [-1.69629075e-01 9.85479256e-01 -7.52421618e-03 -3.13809188e+00] [-4.51403956e-02 -1.42648590e-04 9.98980643e-01 -2.25150353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.15, Z:-2.25 [[ 9.84454273e-01 1.69811332e-01 4.48764409e-02 3.53963549e+01] [-1.69641745e-01 9.85476581e-01 -7.58861667e-03 -3.14565625e+00] [-4.55133146e-02 -1.42271620e-04 9.98963722e-01 -2.25313282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.15, Z:-2.25 [[ 9.84268032e-01 1.70716972e-01 4.55209523e-02 3.54284785e+01] [-1.70543012e-01 9.85320092e-01 -7.70695662e-03 -3.15452911e+00] [-4.61684172e-02 -1.77569298e-04 9.98933654e-01 -2.25416156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.16, Z:-2.26 [[ 9.84102746e-01 1.71685029e-01 4.54536785e-02 3.54599772e+01] [-1.71512184e-01 9.85151869e-01 -7.70489381e-03 -3.16140673e+00] [-4.61015913e-02 -2.13452518e-04 9.98936734e-01 -2.25602950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.17, Z:-2.26 [[ 9.83596463e-01 1.74429960e-01 4.59585352e-02 3.54917784e+01] [-1.74255839e-01 9.84669526e-01 -7.79917196e-03 -3.16881014e+00] [-4.66143784e-02 -3.37305174e-04 9.98912902e-01 -2.25774946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.18, Z:-2.26 [[ 9.83259821e-01 1.76416495e-01 4.55778865e-02 3.55228332e+01] [-1.76246933e-01 9.84315521e-01 -7.74423664e-03 -3.17508644e+00] [-4.62292322e-02 -4.18365998e-04 9.98930770e-01 -2.26022922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.18, Z:-2.26 [[ 9.82964299e-01 1.78312896e-01 4.45611768e-02 3.55547298e+01] [-1.78152579e-01 9.83973713e-01 -7.57559734e-03 -3.18185536e+00] [-4.51978533e-02 -4.92146859e-04 9.98977934e-01 -2.26215468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.19, Z:-2.26 [[ 9.82482460e-01 1.80994121e-01 4.43772836e-02 3.55854998e+01] [-1.80837443e-01 9.83483992e-01 -7.55352087e-03 -3.18942650e+00] [-4.50114909e-02 -6.03872736e-04 9.98986287e-01 -2.26421772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.19, Z:-2.27 [[ 9.82326698e-01 1.81841040e-01 4.43632077e-02 3.56167984e+01] [-1.81684938e-01 9.83327735e-01 -7.55969790e-03 -3.19453059e+00] [-4.49982359e-02 -6.34033572e-04 9.98986865e-01 -2.26579442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.20, Z:-2.27 [[ 9.82342220e-01 1.81759292e-01 4.43545024e-02 3.56497002e+01] [-1.81602819e-01 9.83342856e-01 -7.56597744e-03 -3.19935725e+00] [-4.49908698e-02 -6.22523593e-04 9.98987204e-01 -2.26757852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.20, Z:-2.27 [[ 9.82450955e-01 1.80983208e-01 4.51131833e-02 3.56813179e+01] [-1.80820088e-01 9.83486011e-01 -7.70471328e-03 -3.20487176e+00] [-4.57626084e-02 -5.87866883e-04 9.98952170e-01 -2.26972367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.21, Z:-2.27 [[ 9.83051496e-01 1.77192120e-01 4.70394382e-02 3.57136170e+01] [-1.77009992e-01 9.84176192e-01 -8.04279242e-03 -3.21191573e+00] [-4.77202146e-02 -4.19971440e-04 9.98860653e-01 -2.27072056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.22, Z:-2.27 [[ 9.83393205e-01 1.75102552e-01 4.77168843e-02 3.57456133e+01] [-1.74912225e-01 9.84550150e-01 -8.16795883e-03 -3.21764803e+00] [-4.84098960e-02 -3.13951218e-04 9.98827504e-01 -2.27184346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.22, Z:-2.27 [[ 9.83691473e-01 1.73329175e-01 4.80425124e-02 3.57780226e+01] [-1.73133662e-01 9.84863924e-01 -8.23321927e-03 -3.22385168e+00] [-4.87423944e-02 -2.18828522e-04 9.98811359e-01 -2.27354516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.23, Z:-2.28 [[ 9.84161653e-01 1.70660980e-01 4.79652978e-02 3.58089165e+01] [-1.70462447e-01 9.85329805e-01 -8.22984584e-03 -3.23160797e+00] [-4.86661511e-02 -7.67833255e-05 9.98815098e-01 -2.27554774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.24, Z:-2.28 [[ 9.84354459e-01 1.69626455e-01 4.76777168e-02 3.58403090e+01] [-1.69428647e-01 9.85508430e-01 -8.18951878e-03 -3.23805585e+00] [-4.83759509e-02 -1.65817311e-05 9.98829198e-01 -2.27752188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.24, Z:-2.28 [[ 9.84471776e-01 1.69067083e-01 4.72402822e-02 3.58722090e+01] [-1.68871833e-01 9.85604546e-01 -8.12299117e-03 -3.24447927e+00] [-4.79335673e-02 1.93025093e-05 9.98850526e-01 -2.27964571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.25, Z:-2.28 [[ 9.84616031e-01 1.68630991e-01 4.57696388e-02 3.59029670e+01] [-1.68446836e-01 9.85679251e-01 -7.87888250e-03 -3.25263005e+00] [-4.64428071e-02 4.79231585e-05 9.98920950e-01 -2.28228670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:-3.26, Z:-2.28 [[ 9.84563593e-01 1.68993246e-01 4.55611077e-02 3.59347733e+01] [-1.68810780e-01 9.85617208e-01 -7.85107193e-03 -3.26009138e+00] [-4.62325899e-02 3.86734481e-05 9.98930701e-01 -2.28443158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.27, Z:-2.29 [[ 9.84477577e-01 1.69571610e-01 4.52699706e-02 3.59673663e+01] [-1.69391672e-01 9.85517868e-01 -7.80976673e-03 -3.26743054e+00] [-4.59386796e-02 2.01841968e-05 9.98944261e-01 -2.28652172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.28, Z:-2.29 [[ 9.84192392e-01 1.71517111e-01 4.41272618e-02 3.59981231e+01] [-1.71347708e-01 9.85181139e-01 -7.62142436e-03 -3.27635191e+00] [-4.47805507e-02 -6.01572877e-05 9.98996846e-01 -2.28875256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.28, Z:-2.29 [[ 9.83980038e-01 1.72696223e-01 4.42639690e-02 3.60297781e+01] [-1.72526590e-01 9.84975128e-01 -7.65327679e-03 -3.28410968e+00] [-4.49206005e-02 -1.06040023e-04 9.98990555e-01 -2.29110644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.29, Z:-2.29 [[ 9.83671390e-01 1.74441253e-01 4.42814426e-02 3.60624179e+01] [-1.74272867e-01 9.84667567e-01 -7.66486853e-03 -3.29142123e+00] [-4.49395696e-02 -1.77342055e-04 9.98989691e-01 -2.29281263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.30, Z:-2.29 [[ 9.82777719e-01 1.79477589e-01 4.39971545e-02 3.60939153e+01] [-1.79315990e-01 9.83761983e-01 -7.62477128e-03 -3.29814812e+00] [-4.46512035e-02 -3.95938007e-04 9.99002559e-01 -2.29486120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.30, Z:-2.30 [[ 9.82252514e-01 1.82337265e-01 4.39672622e-02 3.61266348e+01] [-1.82178382e-01 9.83235910e-01 -7.62779051e-03 -3.30489283e+00] [-4.46210215e-02 -5.17468271e-04 9.99003852e-01 -2.29686632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:-3.31, Z:-2.30 [[ 9.81704151e-01 1.85211430e-01 4.42005271e-02 3.61581707e+01] [-1.85053356e-01 9.82698485e-01 -7.67738239e-03 -3.31137043e+00] [-4.48577300e-02 -6.42537698e-04 9.98993179e-01 -2.29846969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-3.32, Z:-2.30 [[ 9.80724118e-01 1.90468190e-01 4.36127619e-02 3.61909253e+01] [-1.90319132e-01 9.81692988e-01 -7.58318968e-03 -3.31739455e+00] [-4.42586990e-02 -8.63325959e-04 9.99019731e-01 -2.30104265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:-3.32, Z:-2.30 [[ 9.80277460e-01 1.92880556e-01 4.30487281e-02 3.62230975e+01] [-1.92737295e-01 9.81221782e-01 -7.49330617e-03 -3.32251408e+00] [-4.36856628e-02 -9.51576268e-04 9.99044873e-01 -2.30308715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-3.33, Z:-2.31 [[ 9.79871239e-01 1.94971379e-01 4.28779204e-02 3.62543938e+01] [-1.94830868e-01 9.80808389e-01 -7.47239471e-03 -3.32725910e+00] [-4.35119271e-02 -1.03195777e-03 9.99052375e-01 -2.30519711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.33, Z:-2.31 [[ 9.79536649e-01 1.96577126e-01 4.31901365e-02 3.62867352e+01] [-1.96435756e-01 9.80487744e-01 -7.53505169e-03 -3.33207326e+00] [-4.38286183e-02 -1.10322786e-03 9.99038455e-01 -2.30677658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.34, Z:-2.31 [[ 9.79116204e-01 1.98483111e-01 4.39990206e-02 3.63192636e+01] [-1.98337942e-01 9.80103570e-01 -7.68456641e-03 -3.33537019e+00] [-4.46488538e-02 -1.20259168e-03 9.99002019e-01 -2.30847907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.34, Z:-2.31 [[ 9.78951941e-01 1.99342362e-01 4.37689302e-02 3.63512432e+01] [-1.99199183e-01 9.79929139e-01 -7.65297267e-03 -3.34055364e+00] [-4.44160118e-02 -1.22684267e-03 9.99012369e-01 -2.31038275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.35, Z:-2.31 [[ 9.78881907e-01 1.99770797e-01 4.33801852e-02 3.63835259e+01] [-1.99630239e-01 9.79841886e-01 -7.59253168e-03 -3.34580138e+00] [-4.40224885e-02 -1.22780486e-03 9.99029786e-01 -2.31189952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.35, Z:-2.31 [[ 9.79004913e-01 1.98958656e-01 4.43264506e-02 3.64164249e+01] [-1.98810670e-01 9.80007139e-01 -7.76693515e-03 -3.35018673e+00] [-4.49855370e-02 -1.20870366e-03 9.98986907e-01 -2.31372384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.36, Z:-2.32 [[ 9.79220431e-01 1.97768643e-01 4.48877622e-02 3.64489996e+01] [-1.97615235e-01 9.80248039e-01 -7.87407484e-03 -3.35508520e+00] [-4.55583860e-02 -1.16005071e-03 9.98961004e-01 -2.31572810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.36, Z:-2.32 [[ 9.79517216e-01 1.96268235e-01 4.49978093e-02 3.64808615e+01] [-1.96112051e-01 9.80549645e-01 -7.90300007e-03 -3.35985853e+00] [-4.56736938e-02 -1.08348806e-03 9.98955825e-01 -2.31716680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.36, Z:-2.32 [[ 9.80298667e-01 1.91972667e-01 4.64867656e-02 3.65139400e+01] [-1.91800910e-01 9.81399853e-01 -8.16942599e-03 -3.36299752e+00] [-4.71904114e-02 -9.07726565e-04 9.98885499e-01 -2.31887409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.37, Z:-2.32 [[ 9.80630068e-01 1.90057527e-01 4.73582805e-02 3.65465362e+01] [-1.89876575e-01 9.81772612e-01 -8.33214657e-03 -3.36837462e+00] [-4.80786499e-02 -8.21474622e-04 9.98843215e-01 -2.32126549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.37, Z:-2.32 [[ 9.80996868e-01 1.88103035e-01 4.75646199e-02 3.65789651e+01] [-1.87917751e-01 9.82149037e-01 -8.37785599e-03 -3.37379520e+00] [-4.82914457e-02 -7.19585883e-04 9.98833028e-01 -2.32431375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.38, Z:-2.32 [[ 9.81744655e-01 1.84270565e-01 4.71358857e-02 3.66098716e+01] [-1.84083731e-01 9.82875420e-01 -8.31191961e-03 -3.38053915e+00] [-4.78603456e-02 -5.16767061e-04 9.98853903e-01 -2.32461796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.39, Z:-2.33 [[ 9.82087013e-01 1.82499026e-01 4.68956820e-02 3.66422019e+01] [-1.82311660e-01 9.83205945e-01 -8.27823313e-03 -3.38563320e+00] [-4.76188828e-02 -4.19684401e-04 9.98865489e-01 -2.32635093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.39, Z:-2.33 [[ 9.82372782e-01 1.81000602e-01 4.67172165e-02 3.66750415e+01] [-1.80812526e-01 9.83482927e-01 -8.25601098e-03 -3.38962951e+00] [-4.74399278e-02 -3.36577456e-04 9.98874036e-01 -2.33042422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.40, Z:-2.33 [[ 9.82780122e-01 1.78998873e-01 4.58544931e-02 3.67063808e+01] [-1.78815079e-01 9.83849253e-01 -8.11266815e-03 -3.39560315e+00] [-4.65660672e-02 -2.26505802e-04 9.98915187e-01 -2.33150311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.40, Z:-2.33 [[ 9.82856887e-01 1.78584890e-01 4.58233218e-02 3.67379851e+01] [-1.78400496e-01 9.83924488e-01 -8.11573188e-03 -3.40182984e+00] [-4.65360355e-02 -1.98300369e-04 9.98916592e-01 -2.33241238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.41, Z:-2.33 [[ 9.82879570e-01 1.78387588e-01 4.61044372e-02 3.67702551e+01] [-1.78200309e-01 9.83960281e-01 -8.17400828e-03 -3.40681353e+00] [-4.68230767e-02 -1.81759219e-04 9.98903182e-01 -2.33409953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.41, Z:-2.34 [[ 9.82862808e-01 1.78691996e-01 4.52755132e-02 3.68030196e+01] [-1.78511315e-01 9.83905045e-01 -8.03577435e-03 -3.41143004e+00] [-4.59827344e-02 -1.84127674e-04 9.98942218e-01 -2.33569544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.42, Z:-2.34 [[ 9.82754459e-01 1.79431313e-01 4.46998688e-02 3.68347545e+01] [-1.79255503e-01 9.83770482e-01 -7.94373459e-03 -3.41764708e+00] [-4.53997662e-02 -2.05956907e-04 9.98968878e-01 -2.33777617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.42, Z:-2.34 [[ 9.82575987e-01 1.80455460e-01 4.45000688e-02 3.68656334e+01] [-1.80282044e-01 9.83583126e-01 -7.91322200e-03 -3.42386462e+00] [-4.51975009e-02 -2.47221418e-04 9.98978040e-01 -2.33936468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.43, Z:-2.34 [[ 9.82399393e-01 1.81400733e-01 4.45556651e-02 3.68978526e+01] [-1.81227495e-01 9.83409220e-01 -7.93102851e-03 -3.42880494e+00] [-4.52551462e-02 -2.83273970e-04 9.98975421e-01 -2.34234952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582640000000005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.43, Z:-2.34 [[ 9.82117428e-01 1.82705448e-01 4.54321196e-02 3.69296430e+01] [-1.82526278e-01 9.83167637e-01 -8.09658222e-03 -3.43441951e+00] [-4.61466794e-02 -3.40761195e-04 9.98934616e-01 -2.34391770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612640000000006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.44, Z:-2.35 [[ 9.81986318e-01 1.83183951e-01 4.63304608e-02 3.69616028e+01] [-1.82997742e-01 9.83078588e-01 -8.26542593e-03 -3.44088371e+00] [-4.70605774e-02 -3.61834531e-04 9.98891972e-01 -2.34540660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.45, Z:-2.35 [[ 9.81869872e-01 1.83648304e-01 4.69558844e-02 3.69929737e+01] [-1.83457091e-01 9.82991941e-01 -8.38686411e-03 -3.44789781e+00] [-4.76974893e-02 -3.79580764e-04 9.98861755e-01 -2.34500583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.45, Z:-2.35 [[ 9.81690994e-01 1.84863466e-01 4.59161446e-02 3.70254568e+01] [-1.84681566e-01 9.82764123e-01 -8.20957004e-03 -3.45268625e+00] [-4.66423892e-02 -4.20604523e-04 9.98911563e-01 -2.34681960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.46, Z:-2.35 [[ 9.81490112e-01 1.86135977e-01 4.50617079e-02 3.70585022e+01] [-1.85961740e-01 9.82523884e-01 -8.06524630e-03 -3.45755517e+00] [-4.57754367e-02 -4.63794121e-04 9.98951648e-01 -2.34906955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.46, Z:-2.35 [[ 9.80838996e-01 1.89528243e-01 4.50988749e-02 3.70913047e+01] [-1.89356903e-01 9.81875078e-01 -8.08056310e-03 -3.46032016e+00] [-4.58129563e-02 -6.14051869e-04 9.98949847e-01 -2.35356539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.47, Z:-2.35 [[ 9.80471862e-01 1.91528599e-01 4.46287234e-02 3.71229655e+01] [-1.91362489e-01 9.81486789e-01 -8.00503151e-03 -3.46639400e+00] [-4.53356949e-02 -6.91555439e-04 9.98971569e-01 -2.35375308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792640000000006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.47, Z:-2.36 [[ 9.80116991e-01 1.93390611e-01 4.43931993e-02 3.71553349e+01] [-1.93227805e-01 9.81121544e-01 -7.97060093e-03 -3.47058954e+00] [-4.50965637e-02 -7.65879052e-04 9.98982339e-01 -2.35731071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.48, Z:-2.36 [[ 9.79866611e-01 1.94824993e-01 4.36422496e-02 3.71877442e+01] [-1.94668715e-01 9.80837686e-01 -7.84380253e-03 -3.47691445e+00] [-4.43341319e-02 -8.09900452e-04 9.99016431e-01 -2.35785319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.48, Z:-2.36 [[ 9.79595137e-01 1.96282805e-01 4.32021791e-02 3.72193553e+01] [-1.96130700e-01 9.80546951e-01 -7.77337811e-03 -3.48077997e+00] [-4.38875455e-02 -8.58510227e-04 9.99036109e-01 -2.36006112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.49, Z:-2.36 [[ 9.79632874e-01 1.96114195e-01 4.31121230e-02 3.72523932e+01] [-1.95962218e-01 9.80580703e-01 -7.76496880e-03 -3.48551598e+00] [-4.37977365e-02 -8.41528548e-04 9.99040064e-01 -2.36183297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.49, Z:-2.36 [[ 9.80262581e-01 1.92741986e-01 4.39977092e-02 3.72838517e+01] [-1.92579903e-01 9.81249225e-01 -7.93340246e-03 -3.48966831e+00] [-4.47018178e-02 -6.96257005e-04 9.99000131e-01 -2.36309971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.50, Z:-2.36 [[ 9.80674672e-01 1.90526908e-01 4.44599209e-02 3.73151492e+01] [-1.90358717e-01 9.81681795e-01 -8.02575116e-03 -3.49616501e+00] [-4.51746165e-02 -5.92682627e-04 9.98978930e-01 -2.36497530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972640000000006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.50, Z:-2.37 [[ 9.81246977e-01 1.87501856e-01 4.46925530e-02 3.73477024e+01] [-1.87328330e-01 9.82264147e-01 -8.07724042e-03 -3.50252322e+00] [-4.54143901e-02 -4.46413593e-04 9.98968135e-01 -2.36814450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.51, Z:-2.37 [[ 9.81231320e-01 1.87583933e-01 4.46918825e-02 3.73805902e+01] [-1.87410324e-01 9.82248476e-01 -8.08094871e-03 -3.50861412e+00] [-4.54143896e-02 -4.46440212e-04 9.98968135e-01 -2.37011280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.52, Z:-2.37 [[ 9.82392501e-01 1.81482803e-01 4.43730441e-02 3.74113138e+01] [-1.81305323e-01 9.83394105e-01 -8.02578542e-03 -3.51866509e+00] [-4.50927320e-02 -1.60597696e-04 9.98982793e-01 -2.37055877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.53, Z:-2.37 [[ 9.82891202e-01 1.78617214e-01 4.49530411e-02 3.74435235e+01] [-1.78431692e-01 9.83918640e-01 -8.13884776e-03 -3.52594897e+00] [-4.56838734e-02 -2.14453552e-05 9.98955947e-01 -2.37436239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.53, Z:-2.38 [[ 9.83251222e-01 1.76530974e-01 4.53194137e-02 3.74755830e+01] [-1.76339774e-01 9.84295082e-01 -8.21439769e-03 -3.53451928e+00] [-4.60577716e-02 8.52014027e-05 9.98938774e-01 -2.37564256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.55, Z:-2.38 [[ 9.83674977e-01 1.74134449e-01 4.53953093e-02 3.75066073e+01] [-1.73939628e-01 9.84721865e-01 -8.23741590e-03 -3.54692312e+00] [-4.61361715e-02 2.06896675e-04 9.98935138e-01 -2.37543944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.56, Z:-2.38 [[ 9.83717653e-01 1.73927565e-01 4.52634671e-02 3.75373542e+01] [-1.73733221e-01 9.84758423e-01 -8.22292341e-03 -3.55534057e+00] [-4.60037735e-02 2.25266967e-04 9.98941241e-01 -2.37677379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.56, Z:-2.38 [[ 9.83606017e-01 1.74575149e-01 4.51964569e-02 3.75689646e+01] [-1.74381675e-01 9.84643832e-01 -8.21920173e-03 -3.56327850e+00] [-4.59372809e-02 2.03022400e-04 9.98944305e-01 -2.37835958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.57, Z:-2.38 [[ 9.83164323e-01 1.77122090e-01 4.48963256e-02 3.76010645e+01] [-1.76933420e-01 9.84188883e-01 -8.17363185e-03 -3.57254414e+00] [-4.56341953e-02 9.23627963e-05 9.98958213e-01 -2.38043993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.58, Z:-2.38 [[ 9.82816363e-01 1.79057715e-01 4.48367272e-02 3.76316453e+01] [-1.78871128e-01 9.83838571e-01 -8.17222542e-03 -3.58031029e+00] [-4.55754016e-02 1.18009120e-05 9.98960901e-01 -2.38273869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.59, Z:-2.39 [[ 9.82446540e-01 1.81069622e-01 4.48618846e-02 3.76626801e+01] [-1.80884523e-01 9.83470277e-01 -8.18552694e-03 -3.58743864e+00] [-4.56024803e-02 -7.29779570e-05 9.98959663e-01 -2.38608029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.60, Z:-2.39 [[ 9.82090699e-01 1.83123214e-01 4.43141995e-02 3.76946155e+01] [-1.82944328e-01 9.83089957e-01 -8.09377505e-03 -3.59683717e+00] [-4.50470026e-02 -1.58210262e-04 9.98984856e-01 -2.38637528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332640000000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.60, Z:-2.39 [[ 9.81414384e-01 1.86886487e-01 4.35803683e-02 3.77260154e+01] [-1.86716792e-01 9.82381464e-01 -7.96862246e-03 -3.60423411e+00] [-4.43017739e-02 -3.16665846e-04 9.99018144e-01 -2.39073850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.61, Z:-2.39 [[ 9.81107013e-01 1.88686585e-01 4.27364200e-02 3.77573979e+01] [-1.88524761e-01 9.82037284e-01 -7.82228779e-03 -3.61206061e+00] [-4.34447186e-02 -3.82371958e-04 9.99055759e-01 -2.39130957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.62, Z:-2.39 [[ 9.80476649e-01 1.92103267e-01 4.19746934e-02 3.77899334e+01] [-1.91949977e-01 9.81374581e-01 -7.69017643e-03 -3.61895980e+00] [-4.26702052e-02 -5.17003019e-04 9.99089078e-01 -2.39356365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:-3.62, Z:-2.40 [[ 9.80090010e-01 1.94064047e-01 4.19847331e-02 3.78219409e+01] [-1.93912126e-01 9.80988681e-01 -7.70034193e-03 -3.62489406e+00] [-4.26809075e-02 -5.94320642e-04 9.99088578e-01 -2.39501538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-3.63, Z:-2.40 [[ 9.79746170e-01 1.95762408e-01 4.21250773e-02 3.78537089e+01] [-1.95610667e-01 9.80651131e-01 -7.73468859e-03 -3.63074763e+00] [-4.28241660e-02 -6.62082964e-04 9.99082405e-01 -2.39666485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.64, Z:-2.40 [[ 9.79109267e-01 1.98897448e-01 4.22474577e-02 3.78852496e+01] [-1.98747402e-01 9.80019987e-01 -7.76500316e-03 -3.63549569e+00] [-4.29477923e-02 -7.93785899e-04 9.99077003e-01 -2.39980956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.64, Z:-2.40 [[ 9.78884812e-01 1.99972677e-01 4.23727878e-02 3.79171846e+01] [-1.99822420e-01 9.79801117e-01 -7.79555916e-03 -3.64211334e+00] [-4.30758036e-02 -8.36078557e-04 9.99071457e-01 -2.40009537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.65, Z:-2.40 [[ 9.78732534e-01 2.00531581e-01 4.32401573e-02 3.79486649e+01] [-2.00375252e-01 9.79686853e-01 -7.96424652e-03 -3.64765583e+00] [-4.39588966e-02 -8.69390238e-04 9.99032962e-01 -2.40158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.65, Z:-2.40 [[ 9.78708593e-01 2.00623051e-01 4.33575958e-02 3.79809141e+01] [-2.00465607e-01 9.79668126e-01 -7.99389224e-03 -3.65393022e+00] [-4.40798137e-02 -8.68015741e-04 9.99027636e-01 -2.40308603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.66, Z:-2.41 [[ 9.79022021e-01 1.99179893e-01 4.29331236e-02 3.80120129e+01] [-1.99023759e-01 9.79962627e-01 -7.92414531e-03 -3.66010548e+00] [-4.36511870e-02 -7.86798897e-04 9.99046523e-01 -2.40513168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.67, Z:-2.41 [[ 9.79279278e-01 1.97975821e-01 4.26341387e-02 3.80442801e+01] [-1.97820389e-01 9.80206639e-01 -7.87645662e-03 -3.66561284e+00] [-4.33496138e-02 -7.20651165e-04 9.99059704e-01 -2.40709835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.67, Z:-2.41 [[ 9.79843394e-01 1.94928421e-01 4.37016546e-02 3.80751969e+01] [-1.94761664e-01 9.80817292e-01 -8.08290304e-03 -3.67205842e+00] [-4.44389260e-02 -5.91427802e-04 9.99011928e-01 -2.40874092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.68, Z:-2.41 [[ 9.80178846e-01 1.93144301e-01 4.40988613e-02 3.81072170e+01] [-1.92972322e-01 9.81170231e-01 -8.16462263e-03 -3.67922748e+00] [-4.48454402e-02 -5.07069292e-04 9.98993808e-01 -2.41077942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722640000000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.69, Z:-2.41 [[ 9.80560653e-01 1.91199741e-01 4.40847363e-02 3.81398696e+01] [-1.91025522e-01 9.81551064e-01 -8.17060321e-03 -3.68504055e+00] [-4.48336370e-02 -4.09537722e-04 9.98994383e-01 -2.41371540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:-3.69, Z:-2.41 [[ 9.80936223e-01 1.89250353e-01 4.41410172e-02 3.81716021e+01] [-1.89073319e-01 9.81928819e-01 -8.18985950e-03 -3.69245064e+00] [-4.48932707e-02 -3.12158766e-04 9.98991740e-01 -2.41459761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.70, Z:-2.42 [[ 9.81505801e-01 1.86261084e-01 4.41946992e-02 3.82029747e+01] [-1.86080140e-01 9.82500270e-01 -8.20976390e-03 -3.69804201e+00] [-4.49504635e-02 -1.65824942e-04 9.98989203e-01 -2.41626360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.70, Z:-2.42 [[ 9.81701704e-01 1.85274885e-01 4.39884142e-02 3.82344936e+01] [-1.85094426e-01 9.82686727e-01 -8.17616554e-03 -3.70442971e+00] [-4.47416689e-02 -1.15454642e-04 9.98998583e-01 -2.41838972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.71, Z:-2.42 [[ 9.81809966e-01 1.84681093e-01 4.40690962e-02 3.82667150e+01] [-1.84499030e-01 9.82798498e-01 -8.19881571e-03 -3.71115032e+00] [-4.48252078e-02 -8.10265346e-05 9.98994842e-01 -2.41993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872640000000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.72, Z:-2.42 [[ 9.81923622e-01 1.84076064e-01 4.40681739e-02 3.82981388e+01] [-1.83892991e-01 9.82912000e-01 -8.20775436e-03 -3.71544879e+00] [-4.48259881e-02 -4.44404150e-05 9.98994809e-01 -2.42391575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.72, Z:-2.42 [[ 9.81993590e-01 1.83940163e-01 4.30651254e-02 3.83303858e+01] [-1.83764865e-01 9.82937442e-01 -8.02863077e-03 -3.72251151e+00] [-4.38071118e-02 -2.97930003e-05 9.99040007e-01 -2.42390389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-3.73, Z:-2.43 [[ 9.82108208e-01 1.83555919e-01 4.20795917e-02 3.83621620e+01] [-1.83387837e-01 9.83009270e-01 -7.85345927e-03 -3.72854483e+00] [-4.28061777e-02 -3.93847325e-06 9.99083395e-01 -2.42618164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.73, Z:-2.43 [[ 9.82146591e-01 1.83387979e-01 4.19156720e-02 3.83942800e+01] [-1.83220716e-01 9.83040614e-01 -7.83071449e-03 -3.73477841e+00] [-4.26408669e-02 1.10900783e-05 9.99090465e-01 -2.42875132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.74, Z:-2.43 [[ 9.82232112e-01 1.82905924e-01 4.20178710e-02 3.84259432e+01] [-1.82736997e-01 9.83130419e-01 -7.85929941e-03 -3.74134865e+00] [-4.27465596e-02 4.14366820e-05 9.99085947e-01 -2.43047859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.75, Z:-2.43 [[ 9.82316654e-01 1.82410936e-01 4.21929048e-02 3.84576842e+01] [-1.82239973e-01 9.83222379e-01 -7.89596243e-03 -3.74850504e+00] [-4.29253181e-02 6.71015580e-05 9.99078282e-01 -2.43162234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.76, Z:-2.43 [[ 9.82574401e-01 1.80601035e-01 4.39410125e-02 3.84882631e+01] [-1.80413362e-01 9.83556424e-01 -8.23279654e-03 -3.75685897e+00] [-4.47053167e-02 1.61789359e-04 9.99000204e-01 -2.43335237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.76, Z:-2.44 [[ 9.82792245e-01 1.79378742e-01 4.40757251e-02 3.85199688e+01] [-1.79188319e-01 9.83780065e-01 -8.26621426e-03 -3.76433657e+00] [-4.48436028e-02 2.26116171e-04 9.98993994e-01 -2.43510163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.77, Z:-2.44 [[ 9.83079215e-01 1.77911120e-01 4.36221393e-02 3.85505968e+01] [-1.77722743e-01 9.84046515e-01 -8.19040512e-03 -3.77185727e+00] [-4.43833783e-02 2.99170788e-04 9.99014528e-01 -2.43689726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.78, Z:-2.44 [[ 9.83689739e-01 1.74425785e-01 4.39333871e-02 3.85812197e+01] [-1.74230802e-01 9.84670211e-01 -8.25847037e-03 -3.78084494e+00] [-4.47003877e-02 4.69223308e-04 9.99000328e-01 -2.44062663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.79, Z:-2.44 [[ 9.84081004e-01 1.72273671e-01 4.36618858e-02 3.86135480e+01] [-1.72078780e-01 9.85048963e-01 -8.21180526e-03 -3.78936571e+00] [-4.44237731e-02 5.67797528e-04 9.99012616e-01 -2.44053209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.80, Z:-2.44 [[ 9.84428039e-01 1.70278973e-01 4.36635787e-02 3.86441433e+01] [-1.70081700e-01 9.85395670e-01 -8.22122592e-03 -3.79728013e+00] [-4.44258033e-02 6.66829621e-04 9.99012464e-01 -2.44269410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:-3.81, Z:-2.44 [[ 9.84794778e-01 1.68178496e-01 4.35343513e-02 3.86758525e+01] [-1.67979978e-01 9.85756260e-01 -8.20501288e-03 -3.80597762e+00] [-4.42941660e-02 7.67354462e-04 9.99018237e-01 -2.44436360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.82, Z:-2.45 [[ 9.85387747e-01 1.64537962e-01 4.40255158e-02 3.87075099e+01] [-1.64330908e-01 9.86370293e-01 -8.30642673e-03 -3.81753476e+00] [-4.47921834e-02 9.50298135e-04 9.98995874e-01 -2.44546267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.74, Y:-3.83, Z:-2.45 [[ 9.85501238e-01 1.63490608e-01 4.53666229e-02 3.87378744e+01] [-1.63269136e-01 9.86544344e-01 -8.57014515e-03 -3.82598941e+00] [-4.61573235e-02 1.03891933e-03 9.98933643e-01 -2.44850265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.84, Z:-2.45 [[ 9.85608702e-01 1.62712609e-01 4.58267850e-02 3.87684142e+01] [-1.62485531e-01 9.86672902e-01 -8.66238303e-03 -3.83588178e+00] [-4.66255259e-02 1.09153059e-03 9.98911842e-01 -2.44836063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:-3.85, Z:-2.45 [[ 9.85550186e-01 1.63005083e-01 4.60453353e-02 3.87988381e+01] [-1.62775762e-01 9.86624626e-01 -8.71198216e-03 -3.85147615e+00] [-4.68495591e-02 1.09103108e-03 9.98901361e-01 -2.45050359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.86, Z:-2.45 [[ 9.85380787e-01 1.64022924e-01 4.60563185e-02 3.88296346e+01] [-1.63794173e-01 9.86455966e-01 -8.72326932e-03 -3.86245348e+00] [-4.68633463e-02 1.05198541e-03 9.98900756e-01 -2.45219316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:-3.87, Z:-2.45 [[ 9.85126538e-01 1.65491856e-01 4.62401375e-02 3.88614746e+01] [-1.65262498e-01 9.86210656e-01 -8.76638828e-03 -3.87253281e+00] [-4.70532822e-02 9.94241086e-04 9.98891886e-01 -2.45378190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.88, Z:-2.46 [[ 9.84331804e-01 1.70304779e-01 4.56856791e-02 3.88922561e+01] [-1.70085638e-01 9.85391140e-01 -8.67049918e-03 -3.88378792e+00] [-4.64948908e-02 7.64170250e-04 9.98918235e-01 -2.45566412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.89, Z:-2.46 [[ 9.83883028e-01 1.73159314e-01 4.46098615e-02 3.89243935e+01] [-1.72952946e-01 9.84893631e-01 -8.47431354e-03 -3.89329240e+00] [-4.54033748e-02 6.22326321e-04 9.98968541e-01 -2.45820081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.90, Z:-2.46 [[ 9.83332207e-01 1.76492456e-01 4.36827687e-02 3.89557509e+01] [-1.76297487e-01 9.84301882e-01 -8.30668411e-03 -3.90294888e+00] [-4.44630985e-02 4.67067661e-04 9.99010918e-01 -2.46156181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.92, Z:-2.46 [[ 9.82416914e-01 1.82065285e-01 4.13429321e-02 3.89859522e+01] [-1.81895243e-01 9.83286422e-01 -7.86977311e-03 -3.91694920e+00] [-4.20847563e-02 2.11315530e-04 9.99114022e-01 -2.46358546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.93, Z:-2.46 [[ 9.81929807e-01 1.84825518e-01 4.06618097e-02 3.90178643e+01] [-1.84663091e-01 9.82771346e-01 -7.74755963e-03 -3.92748893e+00] [-4.13932082e-02 9.88242668e-05 9.99142929e-01 -2.46453980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.94, Z:-2.47 [[ 9.81388566e-01 1.87626600e-01 4.08991606e-02 3.90494326e+01] [-1.87464366e-01 9.82240428e-01 -7.80080242e-03 -3.93771290e+00] [-4.16364470e-02 -1.15168994e-05 9.99132827e-01 -2.46648631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622640000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.95, Z:-2.47 [[ 9.80285360e-01 1.93115852e-01 4.17956950e-02 3.90796344e+01] [-1.92950986e-01 9.81175932e-01 -7.98165536e-03 -3.94986013e+00] [-4.25503142e-02 -2.40220685e-04 9.99094296e-01 -2.46821251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.96, Z:-2.47 [[ 9.79813822e-01 1.95413549e-01 4.21713036e-02 3.91101474e+01] [-1.95247643e-01 9.80720873e-01 -8.05777485e-03 -3.95885223e+00] [-4.29328761e-02 -3.38728468e-04 9.99077902e-01 -2.46917301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:-3.97, Z:-2.47 [[ 9.79323897e-01 1.97770518e-01 4.25620307e-02 3.91409411e+01] [-1.97603393e-01 9.80248249e-01 -8.14057000e-03 -3.96740464e+00] [-4.33313209e-02 -4.38146966e-04 9.99060661e-01 -2.47135912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:-3.98, Z:-2.47 [[ 9.78584465e-01 2.01239393e-01 4.33030129e-02 3.91727365e+01] [-2.01069453e-01 9.79541910e-01 -8.28986260e-03 -3.97858533e+00] [-4.40853628e-02 -5.94582364e-04 9.99027591e-01 -2.47329825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:-3.99, Z:-2.48 [[ 9.78230259e-01 2.02933857e-01 4.33982837e-02 3.92044241e+01] [-2.02764471e-01 9.79192222e-01 -8.31629599e-03 -3.98721374e+00] [-4.41829199e-02 -6.64377672e-04 9.99023237e-01 -2.47512787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.00, Z:-2.48 [[ 9.77893412e-01 2.04602573e-01 4.31539414e-02 3.92363853e+01] [-2.04436352e-01 9.78844859e-01 -8.27770364e-03 -3.99590160e+00] [-4.39346531e-02 -7.27522498e-04 9.99034142e-01 -2.47701194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.00, Z:-2.48 [[ 9.77556520e-01 2.06217402e-01 4.31002669e-02 3.92676076e+01] [-2.06052783e-01 9.78505880e-01 -8.27604608e-03 -4.00410058e+00] [-4.38805293e-02 -7.90627125e-04 9.99036473e-01 -2.47894702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.01, Z:-2.48 [[ 9.76894090e-01 2.09203926e-01 4.37224774e-02 3.92992923e+01] [-2.09037149e-01 9.77871593e-01 -8.40347077e-03 -4.01377141e+00] [-4.45130077e-02 -9.30321100e-04 9.99008372e-01 -2.48034351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.02, Z:-2.48 [[ 9.76574161e-01 2.10685017e-01 4.37576424e-02 3.93310499e+01] [-2.10519074e-01 9.77553499e-01 -8.41881072e-03 -4.02106006e+00] [-4.45491537e-02 -9.90225354e-04 9.99006703e-01 -2.48171613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.03, Z:-2.48 [[ 9.76200609e-01 2.12347269e-01 4.40568859e-02 3.93619123e+01] [-2.12180339e-01 9.77193688e-01 -8.48525776e-03 -4.02760900e+00] [-4.48539321e-02 -1.06469122e-03 9.98992989e-01 -2.48365326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.03, Z:-2.49 [[ 9.75477416e-01 2.15447294e-01 4.50141503e-02 3.93944646e+01] [-2.15275943e-01 9.76514701e-01 -8.67791334e-03 -4.03399032e+00] [-4.58266124e-02 -1.22535517e-03 9.98948657e-01 -2.48556830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:-4.04, Z:-2.49 [[ 9.75459721e-01 2.15527789e-01 4.50122668e-02 3.94272696e+01] [-2.15356074e-01 9.76496946e-01 -8.68767093e-03 -4.04045557e+00] [-4.58267756e-02 -1.21919199e-03 9.98948657e-01 -2.48753762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.05, Z:-2.49 [[ 9.75156736e-01 2.16957899e-01 4.47058176e-02 3.94599926e+01] [-2.16789910e-01 9.76180129e-01 -8.63085697e-03 -4.04715882e+00] [-4.55134634e-02 -1.27533184e-03 9.98962911e-01 -2.48922067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.05, Z:-2.49 [[ 9.74923320e-01 2.18060315e-01 4.44321757e-02 3.94923610e+01] [-2.17895129e-01 9.75934415e-01 -8.58664250e-03 -4.05332567e+00] [-4.52352954e-02 -1.31023663e-03 9.98975501e-01 -2.49143170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:-4.06, Z:-2.49 [[ 9.74623496e-01 2.19406122e-01 4.43846309e-02 3.95250477e+01] [-2.19242285e-01 9.75632665e-01 -8.58624864e-03 -4.05835066e+00] [-4.51869713e-02 -1.36262822e-03 9.98977618e-01 -2.49366896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.06, Z:-2.50 [[ 9.74584395e-01 2.19582209e-01 4.43724157e-02 3.95562299e+01] [-2.19418236e-01 9.75593050e-01 -8.59290285e-03 -4.06356018e+00] [-4.51762690e-02 -1.36160816e-03 9.98978103e-01 -2.49558741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.07, Z:-2.50 [[ 9.74649337e-01 2.19371152e-01 4.39882679e-02 3.95884621e+01] [-2.19209438e-01 9.75640570e-01 -8.52642539e-03 -4.06926319e+00] [-4.47871905e-02 -1.33236862e-03 9.98995662e-01 -2.49704554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.08, Z:-2.50 [[ 9.74725972e-01 2.18984035e-01 4.42184535e-02 3.96206387e+01] [-2.18819836e-01 9.75727558e-01 -8.57968636e-03 -4.07506907e+00] [-4.50239780e-02 -1.31303161e-03 9.98985044e-01 -2.49903162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.08, Z:-2.50 [[ 9.74832784e-01 2.18482044e-01 4.43468094e-02 3.96526554e+01] [-2.18315920e-01 9.75840124e-01 -8.61456599e-03 -4.07951945e+00] [-4.51575240e-02 -1.28385314e-03 9.98979054e-01 -2.50060026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:-4.08, Z:-2.50 [[ 9.75151703e-01 2.17013782e-01 4.45440692e-02 3.96853345e+01] [-2.16844434e-01 9.76167782e-01 -8.65757143e-03 -4.08188727e+00] [-4.53612975e-02 -1.21668792e-03 9.98969906e-01 -2.50198475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.09, Z:-2.50 [[ 9.75405949e-01 2.15763712e-01 4.50472591e-02 3.97165029e+01] [-2.15588760e-01 9.76444913e-01 -8.76457483e-03 -4.08684545e+00] [-4.58772442e-02 -1.16266431e-03 9.98946408e-01 -2.50354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.09, Z:-2.50 [[ 9.75883893e-01 2.13323627e-01 4.62996452e-02 3.97486592e+01] [-2.13135647e-01 9.76981007e-01 -9.01707030e-03 -4.09019688e+00] [-4.71574281e-02 -1.06849114e-03 9.98886898e-01 -2.50467803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.09, Z:-2.51 [[ 9.76110631e-01 2.12248105e-01 4.64626436e-02 3.97818465e+01] [-2.12057181e-01 9.77215287e-01 -9.05725183e-03 -4.09446093e+00] [-4.73263902e-02 -1.01185744e-03 9.98878966e-01 -2.50699155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.10, Z:-2.51 [[ 9.76277608e-01 2.11495601e-01 4.63857934e-02 3.98146347e+01] [-2.11304038e-01 9.77378473e-01 -9.05120051e-03 -4.09882937e+00] [-4.72507650e-02 -9.65021063e-04 9.98882593e-01 -2.50996265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-4.10, Z:-2.51 [[ 9.76566050e-01 2.10144197e-01 4.64560675e-02 3.98470731e+01] [-2.09950098e-01 9.77669996e-01 -9.07390914e-03 -4.10370731e+00] [-4.73255327e-02 -8.92184299e-04 9.98879121e-01 -2.51106751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:-4.11, Z:-2.51 [[ 9.76955066e-01 2.08487191e-01 4.57371794e-02 3.98805087e+01] [-2.08296830e-01 9.78024778e-01 -8.94229207e-03 -4.10604562e+00] [-4.65964481e-02 -7.90691954e-04 9.98913483e-01 -2.51348045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.11, Z:-2.52 [[ 9.77067901e-01 2.08082884e-01 4.51644863e-02 3.99117053e+01] [-2.07896410e-01 9.78110907e-01 -8.83944940e-03 -4.11052293e+00] [-4.60152148e-02 -7.52792301e-04 9.98940455e-01 -2.51561218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.11, Z:-2.52 [[ 9.77104432e-01 2.07968512e-01 4.49001951e-02 3.99443847e+01] [-2.07783715e-01 9.78135245e-01 -8.79603031e-03 -4.11352421e+00] [-4.57477607e-02 -7.34889129e-04 9.98952753e-01 -2.51691620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.12, Z:-2.52 [[ 9.76961882e-01 2.08637192e-01 4.48999230e-02 3.99771243e+01] [-2.08452701e-01 9.77992816e-01 -8.80474784e-03 -4.11706942e+00] [-4.57488000e-02 -7.57607190e-04 9.98952688e-01 -2.51884769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.12, Z:-2.52 [[ 9.76787674e-01 2.09487111e-01 4.47324268e-02 4.00087669e+01] [-2.09304481e-01 9.77811093e-01 -8.78074834e-03 -4.12012433e+00] [-4.55793167e-02 -7.85770627e-04 9.98960414e-01 -2.52062534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.12, Z:-2.52 [[ 9.76498325e-01 2.11102387e-01 4.34373489e-02 4.00424255e+01] [-2.10931449e-01 9.77463603e-01 -8.53398998e-03 -4.12132643e+00] [-4.42599732e-02 -8.28876004e-04 9.99019703e-01 -2.52373977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.12, Z:-2.53 [[ 9.76397613e-01 2.11836438e-01 4.21073132e-02 4.00754861e+01] [-2.11676166e-01 9.77304782e-01 -8.28028131e-03 -4.12488231e+00] [-4.29057439e-02 -8.28267739e-04 9.99078781e-01 -2.52637882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582640000000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.13, Z:-2.53 [[ 9.76161976e-01 2.12986184e-01 4.17693870e-02 4.01079744e+01] [-2.12829178e-01 9.77054829e-01 -8.22203005e-03 -4.12853656e+00] [-4.25621601e-02 -8.63711192e-04 9.99093447e-01 -2.53010745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.13, Z:-2.53 [[ 9.76049369e-01 2.13523823e-01 4.16558059e-02 4.01407738e+01] [-2.13367807e-01 9.76937464e-01 -8.20795362e-03 -4.13237114e+00] [-4.24477110e-02 -8.76640006e-04 9.99098305e-01 -2.53083307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.13, Z:-2.53 [[ 9.75805211e-01 2.14414560e-01 4.27853643e-02 4.01730547e+01] [-2.14250373e-01 9.76742305e-01 -8.44075957e-03 -4.13313814e+00] [-4.36000971e-02 -9.30243105e-04 9.99048631e-01 -2.53193467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.14, Z:-2.53 [[ 9.75729455e-01 2.14736581e-01 4.28979104e-02 4.02059072e+01] [-2.14571646e-01 9.76671548e-01 -8.46739063e-03 -4.13661652e+00] [-4.37154270e-02 -9.42792807e-04 9.99043579e-01 -2.53379842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.14, Z:-2.54 [[ 9.75795215e-01 2.14250911e-01 4.38206155e-02 4.02390221e+01] [-2.14143107e-01 9.76775800e-01 -7.19492488e-03 -4.14120790e+00] [-4.43444360e-02 -2.36310950e-03 9.99013507e-01 -2.53562256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.14, Z:-2.54 [[ 9.75918108e-01 2.13575795e-01 4.43759578e-02 4.02709975e+01] [-2.13327686e-01 9.76926316e-01 -1.03088010e-02 -4.14157773e+00] [-4.55537514e-02 5.93925142e-04 9.98961712e-01 -2.53714633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.15, Z:-2.54 [[ 9.76027884e-01 2.12873907e-01 4.53240537e-02 4.03029545e+01] [-2.12686937e-01 9.77079274e-01 -8.96436616e-03 -4.14674377e+00] [-4.61934731e-02 -8.90362810e-04 9.98932115e-01 -2.53852490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:-4.15, Z:-2.54 [[ 9.76097265e-01 2.12470095e-01 4.57229537e-02 4.03361989e+01] [-2.12278975e-01 9.77167182e-01 -9.05184928e-03 -4.15103337e+00] [-4.66022171e-02 -8.70536410e-04 9.98913147e-01 -2.54013487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:-4.15, Z:-2.54 [[ 9.76204484e-01 2.11864107e-01 4.62428908e-02 4.03686801e+01] [-2.11667481e-01 9.77298773e-01 -9.16439410e-03 -4.15328998e+00] [-4.71347266e-02 -8.41793595e-04 9.98888186e-01 -2.54203280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:-4.16, Z:-2.54 [[ 9.76262301e-01 2.11558927e-01 4.64191711e-02 4.04011226e+01] [-2.11360047e-01 9.77364899e-01 -9.20790137e-03 -4.15824920e+00] [-4.73164822e-02 -8.21831217e-04 9.98879610e-01 -2.54378024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.16, Z:-2.55 [[ 9.76246916e-01 2.11448061e-01 4.72406239e-02 4.04339586e+01] [-2.11340766e-01 9.77385092e-01 -7.31175598e-03 -4.16397836e+00] [-4.77183382e-02 -2.84579040e-03 9.98856777e-01 -2.54574621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:-4.17, Z:-2.55 [[ 9.76356535e-01 2.11267340e-01 4.57605393e-02 4.04666932e+01] [-2.10975605e-01 9.77427515e-01 -1.11690260e-02 -4.16506721e+00] [-4.70872606e-02 1.25059411e-03 9.98889997e-01 -2.54792994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:-4.17, Z:-2.55 [[ 9.76653208e-01 2.10068581e-01 4.49411088e-02 4.04995427e+01] [-2.09879379e-01 9.77686403e-01 -8.94118530e-03 -4.16754479e+00] [-4.58165731e-02 -6.99774690e-04 9.98949624e-01 -2.55047237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:-4.17, Z:-2.55 [[ 9.76857813e-01 2.09249983e-01 4.43086672e-02 4.05320175e+01] [-2.09062782e-01 9.77861997e-01 -8.86948028e-03 -4.17241079e+00] [-4.51837004e-02 -5.99072104e-04 9.98978515e-01 -2.55291440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:-4.18, Z:-2.55 [[ 9.76899448e-01 2.09145083e-01 4.38839744e-02 4.05631296e+01] [-2.08963120e-01 9.77884421e-01 -8.74491842e-03 -4.17754549e+00] [-4.47424116e-02 -6.27226253e-04 9.98998360e-01 -2.55475932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:-4.18, Z:-2.56 [[ 9.77093330e-01 2.08193970e-01 4.40896389e-02 4.05947337e+01] [-2.08009177e-01 9.78087384e-01 -8.78927118e-03 -4.17976534e+00] [-4.49533928e-02 -5.83111272e-04 9.98988915e-01 -2.55712329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:-4.18, Z:-2.56 [[ 9.77153431e-01 2.07890728e-01 4.41884421e-02 4.06269037e+01] [-2.07704437e-01 9.78151895e-01 -8.81692050e-03 -4.18453289e+00] [-4.50559644e-02 -5.62651382e-04 9.98984306e-01 -2.55854142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:-4.19, Z:-2.56 [[ 9.77188438e-01 2.07560838e-01 4.49583631e-02 4.06592107e+01] [-2.07367241e-01 9.78221957e-01 -8.97938738e-03 -4.18883658e+00] [-4.58430271e-02 -5.48338198e-04 9.98948505e-01 -2.56024185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:-4.19, Z:-2.56 [[ 9.77198512e-01 2.07535562e-01 4.48559747e-02 4.06904592e+01] [-2.07342395e-01 9.78227326e-01 -8.96821666e-03 -4.19499383e+00] [-4.57405641e-02 -5.36817271e-04 9.98953208e-01 -2.56186893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:-4.20, Z:-2.56 [[ 9.77269054e-01 2.07206839e-01 4.48388475e-02 4.07223790e+01] [-2.07013091e-01 9.78297022e-01 -8.97317398e-03 -4.20143581e+00] [-4.57250140e-02 -5.13023154e-04 9.98953933e-01 -2.56420943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:-4.21, Z:-2.57 [[ 9.77339922e-01 2.06914849e-01 4.46421584e-02 4.07545160e+01] [-2.06722087e-01 9.78358833e-01 -8.94271826e-03 -4.20777595e+00] [-4.55264312e-02 -4.88444578e-04 9.98963015e-01 -2.56658423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.21, Z:-2.57 [[ 9.77612355e-01 2.05704068e-01 4.42709704e-02 4.07859052e+01] [-2.05512847e-01 9.78614153e-01 -8.87747275e-03 -4.21317139e+00] [-4.51503305e-02 -4.19526130e-04 9.98980116e-01 -2.56927032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.22, Z:-2.57 [[ 9.77714335e-01 2.05342600e-01 4.36932062e-02 4.08182564e+01] [-2.05155627e-01 9.78690076e-01 -8.76949594e-03 -4.21989111e+00] [-4.45628584e-02 -3.89845237e-04 9.99006506e-01 -2.57158657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.23, Z:-2.57 [[ 9.77848748e-01 2.04767273e-01 4.33842035e-02 4.08493150e+01] [-2.04581964e-01 9.78810625e-01 -8.71664854e-03 -4.22692932e+00] [-4.42498037e-02 -3.52061689e-04 9.99020436e-01 -2.57362801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302640000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.23, Z:-2.58 [[ 9.78016187e-01 2.03907748e-01 4.36574001e-02 4.08816788e+01] [-2.03718857e-01 9.78990059e-01 -8.78014400e-03 -4.23464661e+00] [-4.45305001e-02 -3.06712697e-04 9.99007978e-01 -2.57623658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.24, Z:-2.58 [[ 9.77939135e-01 2.04267788e-01 4.37003252e-02 4.09137166e+01] [-2.04078510e-01 9.78914997e-01 -8.79716380e-03 -4.24095116e+00] [-4.45758810e-02 -3.15206505e-04 9.99005952e-01 -2.57759915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.25, Z:-2.58 [[ 9.77690306e-01 2.05383243e-01 4.40384863e-02 4.09446680e+01] [-2.05191742e-01 9.78681559e-01 -8.87441329e-03 -4.24710402e+00] [-4.49223102e-02 -3.59905874e-04 9.98990419e-01 -2.57986746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.25, Z:-2.58 [[ 9.76762095e-01 2.09769505e-01 4.39609395e-02 4.09767810e+01] [-2.09582754e-01 9.77750709e-01 -8.86679849e-03 -4.25443879e+00] [-4.48428237e-02 -5.52702100e-04 9.98993902e-01 -2.58111734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.26, Z:-2.58 [[ 9.76074571e-01 2.12972774e-01 4.38295459e-02 4.10079617e+01] [-2.12789952e-01 9.77057891e-01 -8.84947596e-03 -4.26082774e+00] [-4.47087011e-02 -6.88738513e-04 9.98999829e-01 -2.58288785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.26, Z:-2.58 [[ 9.74368377e-01 2.20504621e-01 4.45418719e-02 4.10408873e+01] [-2.20323265e-01 9.75385373e-01 -9.00185337e-03 -4.26476886e+00] [-4.54304406e-02 -1.04248941e-03 9.98966961e-01 -2.58396301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.27, Z:-2.59 [[ 9.73379767e-01 2.24675077e-01 4.53093618e-02 4.10723643e+01] [-2.24491483e-01 9.74432937e-01 -9.16648039e-03 -4.26871807e+00] [-4.62104142e-02 -1.24909928e-03 9.98930947e-01 -2.58579383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.27, Z:-2.59 [[ 9.72548616e-01 2.28249151e-01 4.52936573e-02 4.11051857e+01] [-2.28069164e-01 9.73601734e-01 -9.17169922e-03 -4.27291402e+00] [-4.61914158e-02 -1.41016315e-03 9.98931612e-01 -2.58761215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.28, Z:-2.59 [[ 9.71738957e-01 2.31661709e-01 4.53459213e-02 4.11377054e+01] [-2.31484603e-01 9.72795149e-01 -9.19111846e-03 -4.27772123e+00] [-4.62415225e-02 -1.56551473e-03 9.98929062e-01 -2.59003609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.28, Z:-2.59 [[ 9.70775390e-01 2.35673775e-01 4.53101879e-02 4.11699782e+01] [-2.35500879e-01 9.71830655e-01 -9.19310212e-03 -4.28022215e+00] [-4.62004027e-02 -1.74615178e-03 9.98930665e-01 -2.59157168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.29, Z:-2.59 [[ 9.70633236e-01 2.36262660e-01 4.52888072e-02 4.12029422e+01] [-2.36090229e-01 9.71687623e-01 -9.19607780e-03 -4.28518832e+00] [-4.61792632e-02 -1.76622608e-03 9.98931607e-01 -2.59373936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.29, Z:-2.60 [[ 9.70749939e-01 2.35794916e-01 4.52251454e-02 4.12349444e+01] [-2.35621992e-01 9.71801296e-01 -9.19335117e-03 -4.29025262e+00] [-4.61176004e-02 -1.73159374e-03 9.98934517e-01 -2.59581335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:-4.29, Z:-2.60 [[ 9.71561788e-01 2.32318800e-01 4.57784633e-02 4.12669430e+01] [-2.32137484e-01 9.72638411e-01 -9.31177944e-03 -4.29374914e+00] [-4.66891932e-02 -1.57992823e-03 9.98908216e-01 -2.59732082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692640000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.30, Y:-4.30, Z:-2.60 [[ 9.72113314e-01 2.29984593e-01 4.58562062e-02 4.12976471e+01] [-2.29799741e-01 9.73193169e-01 -9.33455942e-03 -4.29732885e+00] [-4.67737515e-02 -1.46349482e-03 9.98904437e-01 -2.59916529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:-4.30, Z:-2.60 [[ 9.72674278e-01 2.27494727e-01 4.63777802e-02 4.13282389e+01] [-2.27302757e-01 9.73778366e-01 -9.44200074e-03 -4.30049841e+00] [-4.73096844e-02 -1.35780603e-03 9.98879347e-01 -2.60105765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75264 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:41.36, Y:-4.30, Z:-2.60 [[ 9.73146559e-01 2.25575966e-01 4.58394795e-02 4.13614302e+01] [-2.25386379e-01 9.74224778e-01 -9.33073750e-03 -4.30480532e+00] [-4.67627468e-02 -1.25141920e-03 9.98905240e-01 -2.60353332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:-4.31, Z:-2.61 [[ 9.73800836e-01 2.22758246e-01 4.57241310e-02 4.13941672e+01] [-2.22566084e-01 9.74873091e-01 -9.31635150e-03 -4.30948147e+00] [-4.66505190e-02 -1.10436988e-03 9.98910661e-01 -2.60511217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.31, Z:-2.61 [[ 9.73925172e-01 2.22194067e-01 4.58209089e-02 4.14261447e+01] [-2.22000019e-01 9.75001872e-01 -9.34561583e-03 -4.31485488e+00] [-4.67520124e-02 -1.07031216e-03 9.98905953e-01 -2.60732118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.32, Z:-2.61 [[ 9.73917190e-01 2.22229479e-01 4.58188335e-02 4.14572733e+01] [-2.22034992e-01 9.74993811e-01 -9.35577955e-03 -4.32125591e+00] [-4.67522091e-02 -1.06162981e-03 9.98905953e-01 -2.60919278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.33, Z:-2.61 [[ 9.73973731e-01 2.21999627e-01 4.57311390e-02 4.14893617e+01] [-2.21805627e-01 9.75046187e-01 -9.33795576e-03 -4.32550189e+00] [-4.66629954e-02 -1.04850035e-03 9.98910139e-01 -2.61131468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.33, Z:-2.61 [[ 9.74068122e-01 2.21594284e-01 4.56866168e-02 4.15199508e+01] [-2.21399757e-01 9.75138419e-01 -9.33872048e-03 -4.32873251e+00] [-4.66201824e-02 -1.01845594e-03 9.98912169e-01 -2.61307722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932640000000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.33, Z:-2.61 [[ 9.74155436e-01 2.21453119e-01 4.44938508e-02 4.15505869e+01] [-2.21268441e-01 9.75170522e-01 -9.09560388e-03 -4.32848245e+00] [-4.54033415e-02 -9.84553046e-04 9.98968251e-01 -2.61485787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.33, Z:-2.62 [[ 9.74227239e-01 2.21132393e-01 4.45168760e-02 4.15803273e+01] [-2.20947183e-01 9.75243315e-01 -9.10047028e-03 -4.33117242e+00] [-4.54271945e-02 -9.69952311e-04 9.98967181e-01 -2.61656972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.33, Z:-2.62 [[ 9.74434904e-01 2.19931850e-01 4.58976955e-02 4.16090239e+01] [-2.19733650e-01 9.75514784e-01 -9.38244835e-03 -4.33161097e+00] [-4.68373797e-02 -9.42682985e-04 9.98902083e-01 -2.61841110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.33, Z:-2.62 [[ 9.74675977e-01 2.18835649e-01 4.60184551e-02 4.16388115e+01] [-2.18635269e-01 9.75761323e-01 -9.40532115e-03 -4.33497031e+00] [-4.69612482e-02 -8.94116720e-04 9.98896312e-01 -2.62044310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:-4.34, Z:-2.62 [[ 9.75010648e-01 2.17196080e-01 4.66915346e-02 4.16682744e+01] [-2.16987976e-01 9.76127644e-01 -9.54156328e-03 -4.33887701e+00] [-4.76492877e-02 -8.28375800e-04 9.98863784e-01 -2.62210729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.34, Z:-2.62 [[ 9.75414267e-01 2.15272983e-01 4.71651469e-02 4.16963267e+01] [-2.15058404e-01 9.76553630e-01 -9.63800031e-03 -4.34297956e+00] [-4.81340965e-02 -7.42218231e-04 9.98840607e-01 -2.62404822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.35, Z:-2.63 [[ 9.76385068e-01 2.10835974e-01 4.71210238e-02 4.17249860e+01] [-2.10616716e-01 9.77521313e-01 -9.62715375e-03 -4.34595332e+00] [-4.80915554e-02 -5.24666114e-04 9.98842794e-01 -2.62592303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-4.35, Z:-2.63 [[ 9.76867397e-01 2.08677907e-01 4.67292235e-02 4.17555852e+01] [-2.08459892e-01 9.77984334e-01 -9.54546707e-03 -4.35073722e+00] [-4.76923766e-02 -4.16513322e-04 9.98861984e-01 -2.62788984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:-4.36, Z:-2.63 [[ 9.77275186e-01 2.06882212e-01 4.61839850e-02 4.17854315e+01] [-2.06667216e-01 9.78365803e-01 -9.43485254e-03 -4.35581599e+00] [-4.71367348e-02 -3.24268341e-04 9.98888394e-01 -2.63018429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:-4.36, Z:-2.63 [[ 9.77998727e-01 2.03345935e-01 4.65716738e-02 4.18157630e+01] [-2.03123142e-01 9.79106944e-01 -9.51743465e-03 -4.36123520e+00] [-4.75339809e-02 -1.51745737e-04 9.98869610e-01 -2.63281895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:-4.37, Z:-2.63 [[ 9.78319447e-01 2.01763126e-01 4.67193881e-02 4.18463500e+01] [-2.01537126e-01 9.79434345e-01 -9.54734299e-03 -4.36685071e+00] [-4.76848750e-02 -7.53398875e-05 9.98862426e-01 -2.63460327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-4.37, Z:-2.64 [[ 9.78529033e-01 2.00727805e-01 4.67897418e-02 4.18766905e+01] [-2.00499954e-01 9.79647053e-01 -9.56141023e-03 -4.37220988e+00] [-4.77566735e-02 -2.52235811e-05 9.98858999e-01 -2.63641668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292640000000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.91, Y:-4.38, Z:-2.64 [[ 9.78763863e-01 1.99666204e-01 4.64188194e-02 4.19074033e+01] [-1.99440325e-01 9.79863973e-01 -9.49480592e-03 -4.37658185e+00] [-4.73799207e-02 3.53885045e-05 9.98876940e-01 -2.63797550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:-4.38, Z:-2.64 [[ 9.78694780e-01 1.99854606e-01 4.70602163e-02 4.19380153e+01] [-1.99622598e-01 9.79825564e-01 -9.62717519e-03 -4.38299639e+00] [-4.80348383e-02 2.77834599e-05 9.98845661e-01 -2.64044767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.39, Z:-2.64 [[ 9.78584747e-01 2.00443397e-01 4.68437590e-02 4.19686738e+01] [-2.00214209e-01 9.79705285e-01 -9.58257752e-03 -4.38975340e+00] [-4.78138426e-02 -1.42196961e-06 9.98856264e-01 -2.64237192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.39, Z:-2.64 [[ 9.78199362e-01 2.02314074e-01 4.68510690e-02 4.19987787e+01] [-2.02086503e-01 9.79320687e-01 -9.59358365e-03 -4.39498225e+00] [-4.78231381e-02 -8.35313006e-05 9.98855816e-01 -2.64349165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.40, Z:-2.65 [[ 9.77937592e-01 2.03561786e-01 4.69112461e-02 4.20285258e+01] [-2.03335064e-01 9.79062091e-01 -9.60590597e-03 -4.39969515e+00] [-4.78844181e-02 -1.44724688e-04 9.98852873e-01 -2.64526167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.40, Z:-2.65 [[ 9.77686559e-01 2.04764428e-01 4.69097114e-02 4.20578253e+01] [-2.04539097e-01 9.78811263e-01 -9.60572503e-03 -4.40418390e+00] [-4.78826646e-02 -2.03481765e-04 9.98852947e-01 -2.64713997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.41, Z:-2.65 [[ 9.77231037e-01 2.06956247e-01 4.67825977e-02 4.20870745e+01] [-2.06734667e-01 9.78350150e-01 -9.57924560e-03 -4.40722647e+00] [-4.77522461e-02 -3.10448648e-04 9.98859163e-01 -2.64832650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:-4.41, Z:-2.65 [[ 9.77138524e-01 2.07345327e-01 4.69917070e-02 4.21166979e+01] [-2.07122267e-01 9.78267757e-01 -9.62089526e-03 -4.41209045e+00] [-4.79653195e-02 -3.32081492e-04 9.98848946e-01 -2.64982186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.42, Z:-2.65 [[ 9.77127067e-01 2.07341448e-01 4.72463686e-02 4.21445229e+01] [-2.07116008e-01 9.78268579e-01 -9.67197620e-03 -4.41705610e+00] [-4.82250394e-02 -3.34729537e-04 9.98836440e-01 -2.65100725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-4.42, Z:-2.65 [[ 9.77402274e-01 2.05828306e-01 4.81612270e-02 4.21722282e+01] [-2.05592301e-01 9.78588083e-01 -9.85743052e-03 -4.42241664e+00] [-4.91589411e-02 -2.66902460e-04 9.98790933e-01 -2.65304526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-4.43, Z:-2.65 [[ 9.77655520e-01 2.04558387e-01 4.84308882e-02 4.22023804e+01] [-2.04318276e-01 9.78854343e-01 -9.91050235e-03 -4.42871074e+00] [-4.94340616e-02 -2.06258289e-04 9.98777368e-01 -2.65493605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.44, Z:-2.66 [[ 9.77995109e-01 2.02933241e-01 4.84114363e-02 4.22328062e+01] [-2.02691345e-01 9.79192567e-01 -9.90628643e-03 -4.43512202e+00] [-4.94144334e-02 -1.24279461e-04 9.98778353e-01 -2.65656842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.44, Z:-2.66 [[ 9.78397182e-01 2.00975402e-01 4.84545264e-02 4.22627127e+01] [-2.00730607e-01 9.79596288e-01 -9.91646688e-03 -4.44125887e+00] [-4.94588401e-02 -2.40632505e-05 9.98776162e-01 -2.65832370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.45, Z:-2.66 [[ 9.79198061e-01 1.96926762e-01 4.88979217e-02 4.22929942e+01] [-1.96672388e-01 9.80418185e-01 -1.00077319e-02 -4.44837445e+00] [-4.99112019e-02 1.82680660e-04 9.98753643e-01 -2.65995148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.46, Z:-2.66 [[ 9.79569229e-01 1.95010463e-01 4.91431085e-02 4.23236403e+01] [-1.94751116e-01 9.80801121e-01 -1.00579963e-02 -4.45593272e+00] [-5.01610305e-02 2.81828521e-04 9.98741103e-01 -2.66158224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:-4.46, Z:-2.66 [[ 9.79972223e-01 1.93031689e-01 4.89204402e-02 4.23552267e+01] [-1.92771843e-01 9.81192446e-01 -1.00200156e-02 -4.46446808e+00] [-4.99345469e-02 3.88853518e-04 9.98752417e-01 -2.66384708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:42.39, Y:-4.47, Z:-2.67 [[ 9.80390433e-01 1.91215669e-01 4.76567580e-02 4.23863862e+01] [-1.90966473e-01 9.81547930e-01 -9.77072359e-03 -4.47354010e+00] [-4.86457076e-02 4.78280943e-04 9.98815982e-01 -2.66549573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.49, Z:-2.67 [[ 9.80978837e-01 1.88414385e-01 4.66962544e-02 4.24175949e+01] [-1.88171562e-01 9.82089427e-01 -9.58226811e-03 -4.48508295e+00] [-4.76653349e-02 6.13095131e-04 9.98863174e-01 -2.66799280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.49, Z:-2.67 [[ 9.81117914e-01 1.87734693e-01 4.65115381e-02 4.24488510e+01] [-1.87492537e-01 9.82219557e-01 -9.55462918e-03 -4.49372291e+00] [-4.74782777e-02 6.53651588e-04 9.98872057e-01 -2.67024901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.51, Z:-2.67 [[ 9.81128430e-01 1.86296763e-01 5.17737322e-02 4.24781979e+01] [-1.86625955e-01 9.82429811e-01 1.55554600e-03 -4.50875148e+00] [-5.05742647e-02 -1.11885126e-02 9.98657629e-01 -2.67360268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.51, Z:-2.67 [[ 9.81128633e-01 1.88204973e-01 4.43338904e-02 4.25108719e+01] [-1.87445348e-01 9.82055901e-01 -2.07472540e-02 -4.50834851e+00] [-4.74430950e-02 1.20455435e-02 9.98801310e-01 -2.67392329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.52, Z:-2.68 [[ 9.81020525e-01 1.88297500e-01 4.62901884e-02 4.25410774e+01] [-1.88057446e-01 9.82111827e-01 -9.52658451e-03 -4.52443249e+00] [-4.72559736e-02 6.40560325e-04 9.98882607e-01 -2.67555935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.53, Z:-2.68 [[ 9.80775712e-01 1.89487986e-01 4.66187291e-02 4.25720020e+01] [-1.89245374e-01 9.81882858e-01 -9.60425995e-03 -4.53448338e+00] [-4.75940228e-02 5.97246065e-04 9.98866584e-01 -2.67671880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:-4.54, Z:-2.68 [[ 9.80499476e-01 1.90869545e-01 4.67931024e-02 4.26032766e+01] [-1.90626248e-01 9.81615263e-01 -9.64932871e-03 -4.54439866e+00] [-4.77745865e-02 5.41168205e-04 9.98857996e-01 -2.67784085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-4.56, Z:-2.68 [[ 9.79621486e-01 1.95382912e-01 4.65538671e-02 4.26338216e+01] [-1.95146727e-01 9.80726980e-01 -9.60964927e-03 -4.55680704e+00] [-4.75341947e-02 3.28984105e-04 9.98869557e-01 -2.67968602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:-4.57, Z:-2.68 [[ 9.79086486e-01 1.98061185e-01 4.64910690e-02 4.26641526e+01] [-1.97828231e-01 9.80189637e-01 -9.60557515e-03 -4.56554951e+00] [-4.74725556e-02 2.07442884e-04 9.98872521e-01 -2.68197045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.57, Z:-2.68 [[ 9.78416727e-01 2.01340138e-01 4.65065279e-02 4.26961854e+01] [-2.01110313e-01 9.79521386e-01 -9.61750739e-03 -4.57393651e+00] [-4.74905289e-02 5.69877292e-05 9.98871687e-01 -2.68357956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.58, Z:-2.69 [[ 9.77649376e-01 2.04998235e-01 4.66628460e-02 4.27281301e+01] [-2.04770593e-01 9.78762336e-01 -9.65884628e-03 -4.58190245e+00] [-4.76518826e-02 -1.12213594e-04 9.98863997e-01 -2.68512364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.59, Z:-2.69 [[ 9.75802406e-01 2.13484978e-01 4.72633939e-02 4.27591632e+01] [-2.13260885e-01 9.76946207e-01 -9.79308694e-03 -4.59109826e+00] [-4.82644703e-02 -5.23315402e-04 9.98834454e-01 -2.68588516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.60, Z:-2.69 [[ 9.74778478e-01 2.18129726e-01 4.71841240e-02 4.27915752e+01] [-2.17911389e-01 9.75919500e-01 -9.78552079e-03 -4.59915359e+00] [-4.81824197e-02 -7.43242950e-04 9.98838276e-01 -2.68756117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.61, Z:-2.69 [[ 9.73697607e-01 2.22820832e-01 4.75798939e-02 4.28215404e+01] [-2.22603882e-01 9.74858928e-01 -9.87833705e-03 -4.60610342e+00] [-4.85847836e-02 -9.72955914e-04 9.98818588e-01 -2.68903452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:-4.61, Z:-2.69 [[ 9.71862039e-01 2.30714538e-01 4.74866293e-02 4.28528590e+01] [-2.30507564e-01 9.73020532e-01 -9.86448487e-03 -4.61053885e+00] [-4.84813453e-02 -1.35910885e-03 9.98823164e-01 -2.69044405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-4.61, Z:-2.69 [[ 9.71027009e-01 2.34177944e-01 4.76155230e-02 4.28829692e+01] [-2.33973933e-01 9.72192540e-01 -9.89260273e-03 -4.61426384e+00] [-4.86080856e-02 -1.53480674e-03 9.98816749e-01 -2.69222937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:-4.62, Z:-2.69 [[ 9.70374732e-01 2.36859138e-01 4.76511161e-02 4.29123225e+01] [-2.36657999e-01 9.71542568e-01 -9.90098824e-03 -4.61720094e+00] [-4.86402272e-02 -1.66934898e-03 9.98814969e-01 -2.69425218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31264 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.62, Z:-2.70 [[ 9.69856659e-01 2.38891652e-01 4.80503862e-02 4.29410166e+01] [-2.38689667e-01 9.71044584e-01 -9.98288128e-03 -4.62067056e+00] [-4.90438943e-02 -1.78716682e-03 9.98795025e-01 -2.69730073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.62, Z:-2.70 [[ 9.69688521e-01 2.39782476e-01 4.69950621e-02 4.29711164e+01] [-2.39590400e-01 9.70824983e-01 -9.76182163e-03 -4.62137804e+00] [-4.79646941e-02 -1.79363933e-03 9.98847421e-01 -2.69827416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.62, Z:-2.70 [[ 9.69749277e-01 2.39545466e-01 4.69500671e-02 4.30001313e+01] [-2.39353530e-01 9.70883513e-01 -9.75144558e-03 -4.62443446e+00] [-4.79189607e-02 -1.78120701e-03 9.98849639e-01 -2.70039769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402640000000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.63, Z:-2.70 [[ 9.69886122e-01 2.38967324e-01 4.70693928e-02 4.30283734e+01] [-2.38773809e-01 9.71026017e-01 -9.77461348e-03 -4.62753737e+00] [-4.80414182e-02 -1.75867623e-03 9.98843796e-01 -2.70276195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.63, Z:-2.70 [[ 9.70675515e-01 2.35741653e-01 4.70629093e-02 4.30569516e+01] [-2.35544517e-01 9.71814442e-01 -9.77091562e-03 -4.62692328e+00] [-4.80398268e-02 -1.60102171e-03 9.98844138e-01 -2.70349734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.63, Z:-2.71 [[ 9.71185599e-01 2.33528961e-01 4.75684518e-02 4.30854460e+01] [-2.33325030e-01 9.72348674e-01 -9.87348975e-03 -4.62932646e+00] [-4.85588668e-02 -1.50991939e-03 9.98819181e-01 -2.70519274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.63, Z:-2.71 [[ 9.71774636e-01 2.31038682e-01 4.76988931e-02 4.31143937e+01] [-2.30830750e-01 9.72943570e-01 -9.89818636e-03 -4.63136981e+00] [-4.86951953e-02 -1.39156481e-03 9.98812716e-01 -2.70686512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.63, Z:-2.71 [[ 9.72963114e-01 2.26044836e-01 4.73973720e-02 4.31425045e+01] [-2.25833707e-01 9.74116236e-01 -9.83340672e-03 -4.63057966e+00] [-4.83933404e-02 -1.13638220e-03 9.98827709e-01 -2.70861981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.63, Z:-2.71 [[ 9.73567519e-01 2.23493112e-01 4.70862484e-02 4.31713812e+01] [-2.23281910e-01 9.74704990e-01 -9.76583695e-03 -4.63331366e+00] [-4.80777986e-02 -1.00580582e-03 9.98843088e-01 -2.70985545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.63, Z:-2.71 [[ 9.74443610e-01 2.19667026e-01 4.69685838e-02 4.32000976e+01] [-2.19452542e-01 9.75574564e-01 -9.73918888e-03 -4.63102866e+00] [-4.79607343e-02 -8.17084724e-04 9.98848888e-01 -2.71173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-4.63, Z:-2.71 [[ 9.74855088e-01 2.18018743e-01 4.61018918e-02 4.32293010e+01] [-2.17810404e-01 9.75944313e-01 -9.55647815e-03 -4.63276073e+00] [-4.70763705e-02 -7.25290344e-04 9.98891030e-01 -2.71264868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.63, Z:-2.71 [[ 9.75135115e-01 2.16706724e-01 4.63648900e-02 4.32571150e+01] [-2.16494623e-01 9.76236523e-01 -9.60878692e-03 -4.63482877e+00] [-4.73453877e-02 -6.67883826e-04 9.98878355e-01 -2.71481813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:43.29, Y:-4.64, Z:-2.72 [[ 9.75361917e-01 2.15638619e-01 4.65737838e-02 4.32850743e+01] [-2.15423542e-01 9.76473041e-01 -9.64876605e-03 -4.63724483e+00] [-4.75586909e-02 -6.22050518e-04 9.98868252e-01 -2.71743644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.64, Z:-2.72 [[ 9.75983380e-01 2.13056182e-01 4.54258278e-02 4.33142686e+01] [-2.12848930e-01 9.77039828e-01 -9.40781186e-03 -4.63651766e+00] [-4.63872354e-02 -4.86970827e-04 9.98923414e-01 -2.71937690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:-4.64, Z:-2.72 [[ 9.76417141e-01 2.11244273e-01 4.45581031e-02 4.33434418e+01] [-2.11043076e-01 9.77433221e-01 -9.22600993e-03 -4.63963413e+00] [-4.55015119e-02 -3.95244894e-04 9.98964192e-01 -2.72120290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-4.65, Z:-2.72 [[ 9.76424866e-01 2.11208459e-01 4.45585875e-02 4.33721280e+01] [-2.11007331e-01 9.77440960e-01 -9.22366960e-03 -4.64548797e+00] [-4.55015056e-02 -3.95968291e-04 9.98964192e-01 -2.72294671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-4.65, Z:-2.72 [[ 9.76823863e-01 2.09475054e-01 4.39925272e-02 4.34005459e+01] [-2.09277314e-01 9.77813941e-01 -9.10503000e-03 -4.64861089e+00] [-4.49237831e-02 -3.12627368e-04 9.98990368e-01 -2.72482725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-4.65, Z:-2.73 [[ 9.77173542e-01 2.07887612e-01 4.37562629e-02 4.34294424e+01] [-2.07690500e-01 9.78152689e-01 -9.05390060e-03 -4.65189786e+00] [-4.46825000e-02 -2.40528003e-04 9.99001209e-01 -2.72696305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-4.65, Z:-2.73 [[ 9.78016159e-01 2.04049019e-01 4.29929198e-02 4.34577102e+01] [-2.03855103e-01 9.78960670e-01 -8.89399510e-03 -4.65129817e+00] [-4.39031885e-02 -6.58551805e-05 9.99035788e-01 -2.72839265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-4.65, Z:-2.73 [[ 9.78455360e-01 2.01831670e-01 4.34636020e-02 4.34862815e+01] [-2.01631428e-01 9.79420224e-01 -8.98839895e-03 -4.65492556e+00] [-4.43832744e-02 3.11189988e-05 9.99014576e-01 -2.73031467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:-4.66, Z:-2.73 [[ 9.78984796e-01 1.99184681e-01 4.37519359e-02 4.35136701e+01] [-1.98979221e-01 9.79961959e-01 -9.04596722e-03 -4.65905111e+00] [-4.46770509e-02 1.50138250e-04 9.99001471e-01 -2.73181047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942640000000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.66, Z:-2.73 [[ 9.79776340e-01 1.94982882e-01 4.49444071e-02 4.35407304e+01] [-1.94761776e-01 9.80806584e-01 -9.28957484e-03 -4.66453742e+00] [-4.58930785e-02 3.48253063e-04 9.98946297e-01 -2.73333932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:-4.67, Z:-2.73 [[ 9.80184781e-01 1.92934970e-01 4.48764135e-02 4.35690148e+01] [-1.92712523e-01 9.81211447e-01 -9.27254251e-03 -4.66984223e+00] [-4.58222483e-02 4.40558166e-04 9.98949512e-01 -2.73399786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.68, Z:-2.74 [[ 9.80352739e-01 1.91929104e-01 4.55162229e-02 4.35972213e+01] [-1.91699288e-01 9.81408670e-01 -9.40246388e-03 -4.67508111e+00] [-4.64746222e-02 4.92303695e-04 9.98919350e-01 -2.73626549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:43.63, Y:-4.68, Z:-2.74 [[ 9.80617711e-01 1.90452305e-01 4.60089576e-02 4.36250087e+01] [-1.90215959e-01 9.81696287e-01 -9.50209826e-03 -4.67956170e+00] [-4.69765193e-02 5.66287850e-04 9.98895833e-01 -2.73754989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-4.69, Z:-2.74 [[ 9.80657003e-01 1.90303421e-01 4.57870052e-02 4.36532421e+01] [-1.90069345e-01 9.81725158e-01 -9.45294546e-03 -4.68502825e+00] [-4.67491828e-02 5.67391085e-04 9.98906498e-01 -2.73874017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:43.68, Y:-4.69, Z:-2.74 [[ 9.80530681e-01 1.90852280e-01 4.62059623e-02 4.36810306e+01] [-1.90614612e-01 9.81618618e-01 -9.53720748e-03 -4.69028693e+00] [-4.71768306e-02 5.43992959e-04 9.98886405e-01 -2.74059384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:-4.70, Z:-2.74 [[ 9.80406580e-01 1.91477974e-01 4.62506617e-02 4.37094891e+01] [-1.91240652e-01 9.81496777e-01 -9.54408317e-03 -4.69575450e+00] [-4.72223571e-02 5.12075231e-04 9.98884271e-01 -2.74147674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:-4.70, Z:-2.74 [[ 9.80028881e-01 1.93444094e-01 4.60735753e-02 4.37364239e+01] [-1.93210861e-01 9.81111213e-01 -9.50535695e-03 -4.70333169e+00] [-4.70420565e-02 4.13609200e-04 9.98892824e-01 -2.74363109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:-4.71, Z:-2.75 [[ 9.79841013e-01 1.94536520e-01 4.54657229e-02 4.37631721e+01] [-1.94310708e-01 9.80895212e-01 -9.37718460e-03 -4.70966133e+00] [-4.64213148e-02 3.53673246e-04 9.98921887e-01 -2.74500023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.72, Z:-2.75 [[ 9.79552769e-01 1.95919003e-01 4.57396647e-02 4.37910556e+01] [-1.95692121e-01 9.80620040e-01 -9.43035825e-03 -4.71603000e+00] [-4.67008182e-02 2.86641552e-04 9.98908880e-01 -2.74723311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:-4.72, Z:-2.75 [[ 9.79410796e-01 1.96657868e-01 4.56089474e-02 4.38188895e+01] [-1.96433189e-01 9.80472142e-01 -9.40110679e-03 -4.72205564e+00] [-4.65671040e-02 2.48434488e-04 9.98915133e-01 -2.74842649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.73, Z:-2.75 [[ 9.79107272e-01 1.97936476e-01 4.65843507e-02 4.38454383e+01] [-1.97703631e-01 9.80214831e-01 -9.59994371e-03 -4.73088753e+00] [-4.75628505e-02 1.89479430e-04 9.98868229e-01 -2.75021441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:-4.74, Z:-2.75 [[ 9.79104583e-01 1.98033897e-01 4.62254495e-02 4.38734613e+01] [-1.97804893e-01 9.80195156e-01 -9.52266526e-03 -4.73854668e+00] [-4.71957722e-02 1.80065124e-04 9.98885642e-01 -2.75167861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:-4.75, Z:-2.75 [[ 9.78997728e-01 1.98610913e-01 4.60125338e-02 4.39009756e+01] [-1.98384755e-01 9.80078407e-01 -9.47659543e-03 -4.74779033e+00] [-4.69780461e-02 1.49380152e-04 9.98895911e-01 -2.75301117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.93, Y:-4.75, Z:-2.76 [[ 9.78795106e-01 1.99496204e-01 4.64909111e-02 4.39286419e+01] [-1.99266437e-01 9.79898593e-01 -9.57255021e-03 -4.75494741e+00] [-4.74660658e-02 1.05487112e-04 9.98872845e-01 -2.75505792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:-4.76, Z:-2.76 [[ 9.78609948e-01 2.00433186e-01 4.63584708e-02 4.39574068e+01] [-2.00205868e-01 9.79707372e-01 -9.54336712e-03 -4.76238527e+00] [-4.73305431e-02 5.79961050e-05 9.98879280e-01 -2.75595034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-4.77, Z:-2.76 [[ 9.78374686e-01 2.01520813e-01 4.66083300e-02 4.39848756e+01] [-2.01292320e-01 9.79484233e-01 -9.59373719e-03 -4.77072338e+00] [-4.75854620e-02 4.37071903e-06 9.98867170e-01 -2.75760252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-4.78, Z:-2.76 [[ 9.77682841e-01 2.04713489e-01 4.72085749e-02 4.40116374e+01] [-2.04482864e-01 9.78821926e-01 -9.71570047e-03 -4.78013610e+00] [-4.81977231e-02 -1.54470965e-04 9.98837802e-01 -2.75852910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.79, Z:-2.76 [[ 9.77318575e-01 2.06298994e-01 4.78448419e-02 4.40394481e+01] [-2.06064160e-01 9.78488972e-01 -9.84348106e-03 -4.78620735e+00] [-4.88463504e-02 -2.38890251e-04 9.98806276e-01 -2.75999189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-4.79, Z:-2.76 [[ 9.76957281e-01 2.07942199e-01 4.81093941e-02 4.40669370e+01] [-2.07706865e-01 9.78141061e-01 -9.89555965e-03 -4.79227090e+00] [-4.91154782e-02 -3.25112384e-04 9.98793054e-01 -2.76154400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.80, Z:-2.76 [[ 9.76576780e-01 2.09679587e-01 4.82935147e-02 4.40948335e+01] [-2.09444728e-01 9.77770063e-01 -9.93022106e-03 -4.79881439e+00] [-4.93021176e-02 -4.17198727e-04 9.98783824e-01 -2.76383386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-4.80, Z:-2.77 [[ 9.75786414e-01 2.13264058e-01 4.85727913e-02 4.41222079e+01] [-2.13031023e-01 9.76994410e-01 -9.98532125e-03 -4.80453788e+00] [-4.95848557e-02 -6.03970605e-04 9.98769732e-01 -2.76529875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.81, Z:-2.77 [[ 9.75451006e-01 2.14798057e-01 4.85502891e-02 4.41508000e+01] [-2.14567308e-01 9.76658244e-01 -9.97721058e-03 -4.80949209e+00] [-4.95601256e-02 -6.85024751e-04 9.98770907e-01 -2.76738436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.18, Y:-4.81, Z:-2.77 [[ 9.74800880e-01 2.17799356e-01 4.82357171e-02 4.41786160e+01] [-2.17575378e-01 9.75993209e-01 -9.91012577e-03 -4.81496857e+00] [-4.92361514e-02 -8.34505067e-04 9.98786817e-01 -2.77063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.82, Z:-2.77 [[ 9.74670224e-01 2.18535525e-01 4.75413295e-02 4.42061578e+01] [-2.18318935e-01 9.75828613e-01 -9.76525073e-03 -4.81918397e+00] [-4.85262438e-02 -8.61273290e-04 9.98821537e-01 -2.77173533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692640000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.82, Z:-2.77 [[ 9.74472693e-01 2.19435052e-01 4.74471240e-02 4.42350382e+01] [-2.19220551e-01 9.75626688e-01 -9.74246155e-03 -4.82283924e+00] [-4.84285180e-02 -9.07621930e-04 9.98826239e-01 -2.77400039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.83, Z:-2.78 [[ 9.74468893e-01 2.19615024e-01 4.66863791e-02 4.42631824e+01] [-2.19407661e-01 9.75586195e-01 -9.58406123e-03 -4.82557241e+00] [-4.76513908e-02 -9.03979729e-04 9.98863618e-01 -2.77544203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:-4.83, Z:-2.78 [[ 9.74710797e-01 2.18595720e-01 4.64195377e-02 4.42911752e+01] [-2.18389698e-01 9.75815139e-01 -9.52652010e-03 -4.82784602e+00] [-4.73793441e-02 -8.51946822e-04 9.98876605e-01 -2.77737240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.83, Z:-2.78 [[ 9.75053969e-01 2.17015359e-01 4.66271589e-02 4.43186100e+01] [-2.16805861e-01 9.76167876e-01 -9.56538225e-03 -4.83235977e+00] [-4.75917695e-02 -7.82277398e-04 9.98866563e-01 -2.77889448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.84, Z:-2.78 [[ 9.75580861e-01 2.14599581e-01 4.67867807e-02 4.43460898e+01] [-2.14386006e-01 9.76701885e-01 -9.59525567e-03 -4.83649817e+00] [-4.77558747e-02 -6.69483260e-04 9.98858813e-01 -2.78039623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:-4.84, Z:-2.78 [[ 9.76892263e-01 2.08269927e-01 4.80119079e-02 4.43742041e+01] [-2.08037551e-01 9.78071315e-01 -9.84271838e-03 -4.84014239e+00] [-4.90090121e-02 -3.73004308e-04 9.98798267e-01 -2.78185052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.85, Z:-2.78 [[ 9.77608285e-01 2.04716621e-01 4.87149405e-02 4.44025145e+01] [-2.04473130e-01 9.78821263e-01 -9.98370071e-03 -4.84622339e+00] [-4.97270491e-02 -2.00747818e-04 9.98762825e-01 -2.78350893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.85, Z:-2.79 [[ 9.78382613e-01 2.00879661e-01 4.91408599e-02 4.44300226e+01] [-2.00627173e-01 9.79615926e-01 -1.00685648e-02 -4.85229549e+00] [-5.01617388e-02 -8.08306650e-06 9.98741108e-01 -2.78523056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.86, Z:-2.79 [[ 9.79678749e-01 1.94220071e-01 5.00810574e-02 4.44589438e+01] [-1.93949296e-01 9.80957925e-01 -1.02576449e-02 -4.85880493e+00] [-5.11196507e-02 3.36010866e-04 9.98692479e-01 -2.78658277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.87, Z:-2.79 [[ 9.80217279e-01 1.91344857e-01 5.06086099e-02 4.44863280e+01] [-1.91064578e-01 9.81522749e-01 -1.03644136e-02 -4.86541308e+00] [-5.16566791e-02 4.89864611e-04 9.98664782e-01 -2.78834645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.87, Z:-2.79 [[ 9.80691303e-01 1.88904023e-01 5.05948471e-02 4.45162619e+01] [-1.88620725e-01 9.81995361e-01 -1.03601372e-02 -4.87340065e+00] [-5.16409767e-02 6.16859739e-04 9.98665524e-01 -2.79042046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-4.88, Z:-2.79 [[ 9.81324627e-01 1.85672505e-01 5.02762130e-02 4.45460681e+01] [-1.85388594e-01 9.82611374e-01 -1.02935769e-02 -4.88327670e+00] [-5.13132129e-02 7.80704087e-04 9.98682304e-01 -2.79241061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.89, Z:-2.79 [[ 9.81502686e-01 1.84885872e-01 4.96960022e-02 4.45763583e+01] [-1.84607002e-01 9.82759655e-01 -1.01840700e-02 -4.89076890e+00] [-5.07221166e-02 8.21462074e-04 9.98712467e-01 -2.79454083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-4.90, Z:-2.80 [[ 9.81547741e-01 1.84805774e-01 4.91004956e-02 4.46067139e+01] [-1.84533424e-01 9.82774725e-01 -1.00625869e-02 -4.89930670e+00] [-5.01143502e-02 8.16226847e-04 9.98743153e-01 -2.79702903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.91, Z:-2.80 [[ 9.81557913e-01 1.84949352e-01 4.83508062e-02 4.46365018e+01] [-1.84685170e-01 9.82747727e-01 -9.91432375e-03 -4.90812895e+00] [-4.93502927e-02 8.01806081e-04 9.98781210e-01 -2.79927376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.92, Z:-2.80 [[ 9.81345943e-01 1.86307649e-01 4.74299428e-02 4.46662766e+01] [-1.86055041e-01 9.82491192e-01 -9.72518231e-03 -4.91964520e+00] [-4.84113769e-02 7.19188256e-04 9.98827223e-01 -2.80221419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.93, Z:-2.80 [[ 9.81120379e-01 1.87510297e-01 4.73570606e-02 4.46957283e+01] [-1.87259410e-01 9.82262410e-01 -9.71963219e-03 -4.92824141e+00] [-4.83395916e-02 6.68074010e-04 9.98830735e-01 -2.80426684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.94, Z:-2.81 [[ 9.80815856e-01 1.89005162e-01 4.77211173e-02 4.47247071e+01] [-1.88752197e-01 9.81975911e-01 -9.79374974e-03 -4.93666414e+00] [-4.87120569e-02 5.98399291e-04 9.98812684e-01 -2.80594138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.75, Y:-4.95, Z:-2.81 [[ 9.80419627e-01 1.91027670e-01 4.78098803e-02 4.47539563e+01] [-1.90776002e-01 9.81584524e-01 -9.81530683e-03 -4.94540034e+00] [-4.88044338e-02 5.02141655e-04 9.98808227e-01 -2.80734791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.96, Z:-2.81 [[ 9.79609992e-01 1.95463762e-01 4.64562421e-02 4.47820564e+01] [-1.95231125e-01 9.80710887e-01 -9.53755081e-03 -4.95547032e+00] [-4.74243879e-02 2.73375682e-04 9.98874793e-01 -2.80931647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.81, Y:-4.96, Z:-2.81 [[ 9.79127888e-01 1.98039405e-01 4.57052905e-02 4.48119669e+01] [-1.97817084e-01 9.80194049e-01 -9.38235530e-03 -4.96328776e+00] [-4.66581298e-02 1.45238448e-04 9.98910906e-01 -2.81123089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.97, Z:-2.81 [[ 9.78618786e-01 2.00610069e-01 4.53968268e-02 4.48406983e+01] [-2.00393426e-01 9.79671169e-01 -9.32068817e-03 -4.97051392e+00] [-4.63437863e-02 2.41749094e-05 9.98925549e-01 -2.81291271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.98, Z:-2.82 [[ 9.77624444e-01 2.05210219e-01 4.62516162e-02 4.48691735e+01] [-2.04990513e-01 9.78717899e-01 -9.49542665e-03 -4.98062420e+00] [-4.72158432e-02 -1.98181319e-04 9.98884690e-01 -2.81511885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.99, Z:-2.82 [[ 9.77199981e-01 2.07156196e-01 4.65457651e-02 4.48984482e+01] [-2.06935890e-01 9.78307837e-01 -9.55581523e-03 -4.98874630e+00] [-4.75156331e-02 -2.94046865e-04 9.98870451e-01 -2.81684694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.00, Z:-2.82 [[ 9.76752927e-01 2.09165845e-01 4.69400652e-02 4.49275320e+01] [-2.08944100e-01 9.77880102e-01 -9.63690969e-03 -4.99605747e+00] [-4.79174681e-02 -3.94969923e-04 9.98851220e-01 -2.81824692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.00, Z:-2.82 [[ 9.76391820e-01 2.10725272e-01 4.74749747e-02 4.49562095e+01] [-2.10500313e-01 9.77545207e-01 -9.74610988e-03 -5.00296413e+00] [-4.84626856e-02 -4.77475059e-04 9.98824880e-01 -2.82053325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.01, Z:-2.82 [[ 9.75996653e-01 2.12520606e-01 4.75975269e-02 4.49848375e+01] [-2.12296646e-01 9.77156420e-01 -9.77065677e-03 -5.01095285e+00] [-4.85866949e-02 -5.68666991e-04 9.98818807e-01 -2.82312279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.02, Z:-2.83 [[ 9.75992885e-01 2.12537630e-01 4.75987833e-02 4.50143724e+01] [-2.12313713e-01 9.77152716e-01 -9.77017585e-03 -5.01893823e+00] [-4.85878104e-02 -5.70252311e-04 9.98818752e-01 -2.82531126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.03, Z:-2.83 [[ 9.76102929e-01 2.12026678e-01 4.76209962e-02 4.50432206e+01] [-2.11801952e-01 9.77263726e-01 -9.77460175e-03 -5.02890670e+00] [-4.86107485e-02 -5.45202536e-04 9.98817650e-01 -2.82757566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.04, Z:-2.83 [[ 9.76216022e-01 2.11378054e-01 4.81829498e-02 4.50728151e+01] [-2.11147164e-01 9.77404241e-01 -9.89068865e-03 -5.03685507e+00] [-4.91848939e-02 -5.18244447e-04 9.98789556e-01 -2.82879454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.04, Z:-2.83 [[ 9.76242311e-01 2.11116864e-01 4.87915988e-02 4.51030488e+01] [-2.10879786e-01 9.77460694e-01 -1.00153887e-02 -5.04443597e+00] [-4.98062874e-02 -5.11715728e-04 9.98758766e-01 -2.83055647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622640000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.05, Z:-2.83 [[ 9.76416190e-01 2.10338072e-01 4.86756511e-02 4.51344668e+01] [-2.10101177e-01 9.77628597e-01 -9.99109427e-03 -5.05293025e+00] [-4.96882160e-02 -4.71345385e-04 9.98764666e-01 -2.83222146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652640000000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.17, Y:-5.06, Z:-2.83 [[ 9.76403184e-01 2.10398956e-01 4.86734090e-02 4.51663948e+01] [-2.10161593e-01 9.77615499e-01 -1.00020045e-02 -5.05958100e+00] [-4.96882904e-02 -4.63292133e-04 9.98764667e-01 -2.83416398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:-5.07, Z:-2.84 [[ 9.76505074e-01 2.09979745e-01 4.84391056e-02 4.51968942e+01] [-2.09744056e-01 9.77705638e-01 -9.95570714e-03 -5.06742645e+00] [-4.94496835e-02 -4.38015971e-04 9.98776520e-01 -2.83667623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:-5.08, Z:-2.84 [[ 9.76749116e-01 2.08974892e-01 4.78608237e-02 4.52278960e+01] [-2.08743158e-01 9.77920935e-01 -9.84577852e-03 -5.07800877e+00] [-4.88616219e-02 -3.73763991e-04 9.98805488e-01 -2.83918954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:-5.09, Z:-2.84 [[ 9.76785134e-01 2.08882354e-01 4.75285574e-02 4.52587630e+01] [-2.08653240e-01 9.77940711e-01 -9.78727505e-03 -5.08626811e+00] [-4.85245003e-02 -3.56922714e-04 9.98821929e-01 -2.84163347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:-5.09, Z:-2.84 [[ 9.76772124e-01 2.09012014e-01 4.72249381e-02 4.52910583e+01] [-2.08785543e-01 9.77913009e-01 -9.73361105e-03 -5.09419999e+00] [-4.82163230e-02 -3.52364429e-04 9.98836855e-01 -2.84384378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.10, Z:-2.85 [[ 9.76673625e-01 2.09501542e-01 4.70928267e-02 4.53234725e+01] [-2.09276448e-01 9.77808248e-01 -9.71590591e-03 -5.10221752e+00] [-4.80832516e-02 -3.66150425e-04 9.98843264e-01 -2.84616091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-5.11, Z:-2.85 [[ 9.76508162e-01 2.10202165e-01 4.74010456e-02 4.53546678e+01] [-2.09974459e-01 9.77657862e-01 -9.78935431e-03 -5.10973291e+00] [-4.83997484e-02 -3.93624536e-04 9.98827968e-01 -2.84841884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.12, Z:-2.85 [[ 9.76117308e-01 2.11709621e-01 4.87240889e-02 4.53860437e+01] [-2.11470428e-01 9.77332499e-01 -1.00719776e-02 -5.11876213e+00] [-4.97519701e-02 -4.72272271e-04 9.98761492e-01 -2.85043265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.13, Z:-2.85 [[ 9.75945568e-01 2.12513208e-01 4.86660437e-02 4.54173531e+01] [-2.12275077e-01 9.77158065e-01 -1.00701635e-02 -5.12679907e+00] [-4.96944598e-02 -5.02656735e-04 9.98764341e-01 -2.85246107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.45, Y:-5.14, Z:-2.85 [[ 9.75852063e-01 2.12998407e-01 4.84193029e-02 4.54494922e+01] [-2.12762827e-01 9.77052410e-01 -1.00282955e-02 -5.13525797e+00] [-4.94442075e-02 -5.15694934e-04 9.98776754e-01 -2.85393802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:-5.14, Z:-2.86 [[ 9.75795362e-01 2.13286898e-01 4.82919405e-02 4.54812567e+01] [-2.13052423e-01 9.76989473e-01 -1.00117744e-02 -5.14427459e+00] [-4.93160978e-02 -5.19271943e-04 9.98783086e-01 -2.85638837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:-5.15, Z:-2.86 [[ 9.75758287e-01 2.13284365e-01 4.90463464e-02 4.55132100e+01] [-2.13041987e-01 9.76990027e-01 -1.01783967e-02 -5.15242000e+00] [-5.00886842e-02 -5.17276163e-04 9.98744640e-01 -2.85932658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012640000000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.16, Z:-2.86 [[ 9.75835883e-01 2.12976480e-01 4.88400368e-02 4.55451301e+01] [-2.12735258e-01 9.77057204e-01 -1.01454964e-02 -5.16023867e+00] [-4.98802619e-02 -4.89658399e-04 9.98755085e-01 -2.86027694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:-5.17, Z:-2.86 [[ 9.75942507e-01 2.12240287e-01 4.99027406e-02 4.55759152e+01] [-2.11986921e-01 9.77217405e-01 -1.03772964e-02 -5.16889345e+00] [-5.09683071e-02 -4.51083676e-04 9.98700169e-01 -2.86351535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.18, Z:-2.87 [[ 9.76039003e-01 2.11714037e-01 5.02496782e-02 4.56064951e+01] [-2.11455888e-01 9.77331568e-01 -1.04601183e-02 -5.17689738e+00] [-5.13251507e-02 -4.16106866e-04 9.98681909e-01 -2.86545460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.64, Y:-5.18, Z:-2.87 [[ 9.76138157e-01 2.11376623e-01 4.97415393e-02 4.56370651e+01] [-2.11122938e-01 9.77404610e-01 -1.03601715e-02 -5.18494835e+00] [-5.08075079e-02 -3.88621169e-04 9.98708389e-01 -2.86611893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.19, Z:-2.87 [[ 9.76161470e-01 2.11234921e-01 4.98857917e-02 4.56689321e+01] [-2.10979088e-01 9.77435251e-01 -1.03997674e-02 -5.19311123e+00] [-5.09569253e-02 -3.73006647e-04 9.98700782e-01 -2.86819645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.70, Y:-5.20, Z:-2.87 [[ 9.76098288e-01 2.11504011e-01 4.99818546e-02 4.57006518e+01] [-2.11247039e-01 9.77377056e-01 -1.04296737e-02 -5.20084058e+00] [-5.10570357e-02 -3.78132174e-04 9.98695667e-01 -2.86970842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192640000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.21, Z:-2.87 [[ 9.75692320e-01 2.13158417e-01 5.08722444e-02 4.57316431e+01] [-2.12893863e-01 9.77017541e-01 -1.06267267e-02 -5.20883264e+00] [-5.19682514e-02 -4.61972986e-04 9.98648631e-01 -2.87037038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:-5.22, Z:-2.87 [[ 9.75382916e-01 2.14395762e-01 5.16006290e-02 4.57638750e+01] [-2.14124975e-01 9.76746731e-01 -1.07850822e-02 -5.21607092e+00] [-5.27130217e-02 -5.29398454e-04 9.98609562e-01 -2.87365551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.22, Z:-2.88 [[ 9.75031938e-01 2.16214643e-01 5.06354448e-02 4.57964235e+01] [-2.15955822e-01 9.76345667e-01 -1.05934850e-02 -5.22345664e+00] [-5.17281637e-02 -6.06032882e-04 9.98661018e-01 -2.87635290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-5.23, Z:-2.88 [[ 9.74976203e-01 2.16653834e-01 4.98248844e-02 4.58277161e+01] [-2.16403295e-01 9.76248301e-01 -1.04340265e-02 -5.23116227e+00] [-5.09020305e-02 -6.09341654e-04 9.98703465e-01 -2.87875365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:-5.24, Z:-2.88 [[ 9.75013403e-01 2.16619763e-01 4.92416678e-02 4.58590451e+01] [-2.16374550e-01 9.76255872e-01 -1.03211371e-02 -5.23906837e+00] [-5.03082296e-02 -5.91396656e-04 9.98733564e-01 -2.88165398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:-5.25, Z:-2.88 [[ 9.75362865e-01 2.15068002e-01 4.91226554e-02 4.58913425e+01] [-2.14821551e-01 9.76598947e-01 -1.03052419e-02 -5.24561292e+00] [-5.01894613e-02 -5.01254744e-04 9.98739589e-01 -2.88375824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372640000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.25, Z:-2.89 [[ 9.75574099e-01 2.14057967e-01 4.93392649e-02 4.59237194e+01] [-2.13807537e-01 9.76820860e-01 -1.03607668e-02 -5.25275935e+00] [-5.04134279e-02 -4.41410958e-04 9.98728337e-01 -2.88515384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402640000000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.26, Z:-2.89 [[ 9.75719455e-01 2.13256948e-01 4.99301509e-02 4.59559157e+01] [-2.12998903e-01 9.76996069e-01 -1.04951820e-02 -5.26084456e+00] [-5.10197317e-02 -3.94714138e-04 9.98697567e-01 -2.88677338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432640000000006 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.27, Z:-2.89 [[ 9.75749961e-01 2.12831190e-01 5.11360768e-02 4.59853015e+01] [-2.12661994e-01 9.77086284e-01 -8.79034398e-03 -5.27006135e+00] [-5.18352186e-02 -2.29752228e-03 9.98653009e-01 -2.88880684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.28, Z:-2.89 [[ 9.75904611e-01 2.12402516e-01 4.99536003e-02 4.60182152e+01] [-2.12046862e-01 9.77181132e-01 -1.23758980e-02 -5.27569708e+00] [-5.14423876e-02 1.48519172e-03 9.98674859e-01 -2.89086218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:-5.28, Z:-2.89 [[ 9.75663892e-01 2.13594943e-01 4.95698399e-02 4.60497269e+01] [-2.13339813e-01 9.76922234e-01 -1.04437940e-02 -5.28400224e+00] [-5.06566203e-02 -3.85587690e-04 9.98716055e-01 -2.89240045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:-5.29, Z:-2.89 [[ 9.75331263e-01 2.15207564e-01 4.91389030e-02 4.60813493e+01] [-2.14958390e-01 9.76568224e-01 -1.03630991e-02 -5.29060181e+00] [-5.02177085e-02 -4.55364951e-04 9.98738191e-01 -2.89453328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-5.30, Z:-2.90 [[ 9.74873942e-01 2.17339961e-01 4.88276348e-02 4.61129111e+01] [-2.17096142e-01 9.76095813e-01 -1.03067449e-02 -5.29679513e+00] [-4.99005174e-02 -5.52514076e-04 9.98754040e-01 -2.89680734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.30, Z:-2.90 [[ 9.73655214e-01 2.22806301e-01 4.85064513e-02 4.61450833e+01] [-2.22536620e-01 9.74862727e-01 -1.09597367e-02 -5.30067188e+00] [-4.97290298e-02 -1.23456918e-04 9.98762739e-01 -2.89859393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.31, Z:-2.90 [[ 9.73181345e-01 2.24716551e-01 4.91990063e-02 4.61754541e+01] [-2.24517642e-01 9.74422693e-01 -9.60437711e-03 -5.30648466e+00] [-5.00988907e-02 -1.69924425e-03 9.98742817e-01 -2.90010142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.31, Z:-2.90 [[ 9.72657078e-01 2.26959523e-01 4.92705083e-02 4.62079339e+01] [-2.26722528e-01 9.73903642e-01 -1.04207200e-02 -5.31182569e+00] [-5.03498091e-02 -1.03494709e-03 9.98731108e-01 -2.90185149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.31, Z:-2.90 [[ 9.71967435e-01 2.30161044e-01 4.80124933e-02 4.62392406e+01] [-2.29797682e-01 9.73151185e-01 -1.30305662e-02 -5.31254399e+00] [-4.97225435e-02 1.63212636e-03 9.98761736e-01 -2.90332831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.32, Z:-2.91 [[ 9.71788524e-01 2.30397795e-01 5.04372917e-02 4.62680603e+01] [-2.30307461e-01 9.73087647e-01 -7.67490115e-03 -5.31980518e+00] [-5.08481858e-02 -4.15770371e-03 9.98697740e-01 -2.90564971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.32, Z:-2.91 [[ 9.71615102e-01 2.31207134e-01 5.00734922e-02 4.63001765e+01] [-2.30939889e-01 9.72904266e-01 -1.11380916e-02 -5.32334856e+00] [-5.12919204e-02 -7.42028720e-04 9.98683427e-01 -2.90765610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.33, Z:-2.91 [[ 9.71980569e-01 2.29386505e-01 5.13381477e-02 4.63313838e+01] [-2.29162694e-01 9.73333808e-01 -1.02838690e-02 -5.32831866e+00] [-5.23281355e-02 -1.76906738e-03 9.98628378e-01 -2.91053878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.33, Z:-2.91 [[ 9.72345203e-01 2.27979863e-01 5.06950502e-02 4.63637651e+01] [-2.27728909e-01 9.73665234e-01 -1.07496731e-02 -5.33363387e+00] [-5.18107169e-02 -1.09233538e-03 9.98656325e-01 -2.91218002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:46.40, Y:-5.34, Z:-2.91 [[ 9.72774435e-01 2.26238318e-01 5.02605451e-02 4.63951785e+01] [-2.25988793e-01 9.74071487e-01 -1.06678875e-02 -5.33961461e+00] [-5.13708488e-02 -9.80871682e-04 9.98679165e-01 -2.91497755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.35, Z:-2.92 [[ 9.73918626e-01 2.21359467e-01 4.98246485e-02 4.64263366e+01] [-2.21107375e-01 9.75192025e-01 -1.05850373e-02 -5.34561584e+00] [-5.09316981e-02 -7.07632234e-04 9.98701888e-01 -2.91760671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-5.35, Z:-2.92 [[ 9.74520705e-01 2.18795681e-01 4.93745422e-02 4.64589555e+01] [-2.18544419e-01 9.75770534e-01 -1.04976657e-02 -5.35256737e+00] [-5.04750673e-02 -5.60338092e-04 9.98725164e-01 -2.91999937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-5.36, Z:-2.92 [[ 9.75083595e-01 2.16322408e-01 4.91589145e-02 4.64912107e+01] [-2.16069696e-01 9.76321893e-01 -1.04617179e-02 -5.35984122e+00] [-5.02580284e-02 -4.20702204e-04 9.98736178e-01 -2.92221919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.52, Y:-5.37, Z:-2.92 [[ 9.75966852e-01 2.12441933e-01 4.85502672e-02 4.65232142e+01] [-2.12190156e-01 9.77173670e-01 -1.03419713e-02 -5.36834205e+00] [-4.96391112e-02 -2.08467624e-04 9.98767198e-01 -2.92339195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.38, Z:-2.93 [[ 9.76203192e-01 2.11219944e-01 4.91270190e-02 4.65548397e+01] [-2.10960080e-01 9.77438549e-01 -1.04751351e-02 -5.37530701e+00] [-5.02311995e-02 -1.37979513e-04 9.98737607e-01 -2.92586883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.38, Z:-2.93 [[ 9.76425224e-01 2.10157807e-01 4.92694404e-02 4.65856982e+01] [-2.09894575e-01 9.77667474e-01 -1.05155529e-02 -5.38249632e+00] [-5.03790549e-02 -7.37371053e-05 9.98730166e-01 -2.92772491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:46.62, Y:-5.39, Z:-2.93 [[ 9.76554611e-01 2.09593338e-01 4.91093127e-02 4.66181678e+01] [-2.09330830e-01 9.77788643e-01 -1.04867858e-02 -5.39061226e+00] [-5.02164886e-02 -3.91741180e-05 9.98738355e-01 -2.92926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:46.65, Y:-5.40, Z:-2.93 [[ 9.76503949e-01 2.09745520e-01 4.94656993e-02 4.66504944e+01] [-2.09478884e-01 9.77756010e-01 -1.05726923e-02 -5.39903869e+00] [-5.05829596e-02 -3.77437307e-05 9.98719862e-01 -2.93103407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:-5.41, Z:-2.93 [[ 9.76255674e-01 2.10797489e-01 4.98926597e-02 4.66818023e+01] [-2.10527081e-01 9.77529750e-01 -1.06740980e-02 -5.40625511e+00] [-5.10216322e-02 -8.31072230e-05 9.98697545e-01 -2.93288900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:-5.41, Z:-2.93 [[ 9.75981390e-01 2.12008786e-01 5.01258420e-02 4.67142793e+01] [-2.11736966e-01 9.77267750e-01 -1.07332064e-02 -5.41434943e+00] [-5.12619029e-02 -1.38083956e-04 9.98685235e-01 -2.93463556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:-5.42, Z:-2.94 [[ 9.75216938e-01 2.15337345e-01 5.08109411e-02 4.67458942e+01] [-2.15062024e-01 9.76539673e-01 -1.08900045e-02 -5.42330414e+00] [-5.19639244e-02 -3.07387043e-04 9.98648915e-01 -2.93603944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.43, Z:-2.94 [[ 9.74610580e-01 2.17806880e-01 5.19074126e-02 4.67772388e+01] [-2.17612392e-01 9.75989634e-01 -9.43829513e-03 -5.43047590e+00] [-5.27168222e-02 -2.09703394e-03 9.98607300e-01 -2.93787320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-5.43, Z:-2.94 [[ 9.74072953e-01 2.20510675e-01 5.05660368e-02 4.68090093e+01] [-2.20159351e-01 9.75384019e-01 -1.24850438e-02 -5.43497137e+00] [-5.20743896e-02 1.02875763e-03 9.98642679e-01 -2.93986301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-5.44, Z:-2.94 [[ 9.73424017e-01 2.23319563e-01 5.07351570e-02 4.68407804e+01] [-2.23054653e-01 9.74745028e-01 -1.08973138e-02 -5.44310547e+00] [-5.18874254e-02 -7.09005913e-04 9.98652689e-01 -2.94155738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-5.45, Z:-2.94 [[ 9.71960552e-01 2.29338618e-01 5.19276758e-02 4.68717230e+01] [-2.29069078e-01 9.73346141e-01 -1.11645973e-02 -5.44956191e+00] [-5.31040761e-02 -1.04347662e-03 9.98588438e-01 -2.94319288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-5.46, Z:-2.95 [[ 9.71285461e-01 2.32291520e-01 5.14315356e-02 4.69026434e+01] [-2.32030775e-01 9.72645488e-01 -1.10667725e-02 -5.45527293e+00] [-5.25953685e-02 -1.18470388e-03 9.98615203e-01 -2.94514022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-5.46, Z:-2.95 [[ 9.70735319e-01 2.34811702e-01 5.03627373e-02 4.69328883e+01] [-2.34564788e-01 9.72040022e-01 -1.08423024e-02 -5.46090500e+00] [-5.15004958e-02 -1.28831894e-03 9.98672138e-01 -2.94756066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:-5.47, Z:-2.95 [[ 9.69680737e-01 2.39264767e-01 4.97155837e-02 4.69614688e+01] [-2.39029921e-01 9.70953197e-01 -1.07045014e-02 -5.46624363e+00] [-5.08327149e-02 -1.50356325e-03 9.98706050e-01 -2.95020607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.99, Y:-5.47, Z:-2.95 [[ 9.69297667e-01 2.40804884e-01 4.97497730e-02 4.69909505e+01] [-2.40571765e-01 9.70572250e-01 -1.07113568e-02 -5.47113550e+00] [-5.08650961e-02 -1.58589748e-03 9.98704274e-01 -2.95240285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-5.48, Z:-2.95 [[ 9.68987806e-01 2.42095135e-01 4.95235051e-02 4.70204775e+01] [-2.41865874e-01 9.70251118e-01 -1.06614539e-02 -5.47551699e+00] [-5.06313223e-02 -1.64722702e-03 9.98716054e-01 -2.95404831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:-5.48, Z:-2.96 [[ 9.68518781e-01 2.43976884e-01 4.94636328e-02 4.70490836e+01] [-2.43750676e-01 9.69779479e-01 -1.06475758e-02 -5.47766311e+00] [-5.05665784e-02 -1.74441675e-03 9.98719169e-01 -2.95523194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:-5.48, Z:-2.96 [[ 9.68372665e-01 2.44487747e-01 4.98008435e-02 4.70784691e+01] [-2.44259251e-01 9.69650738e-01 -1.07175234e-02 -5.48211034e+00] [-5.09097278e-02 -1.78576005e-03 9.98701662e-01 -2.95657235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-5.49, Z:-2.96 [[ 9.68218685e-01 2.44834728e-01 5.10738070e-02 4.71072577e+01] [-2.44680530e-01 9.69558701e-01 -9.34685409e-03 -5.48784988e+00] [-5.18074884e-02 -3.44696741e-03 9.98651142e-01 -2.95836195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.49, Z:-2.96 [[ 9.68182727e-01 2.45112957e-01 5.04167145e-02 4.71356736e+01] [-2.44795148e-01 9.69494493e-01 -1.24805441e-02 -5.49000880e+00] [-5.19378701e-02 -2.58319866e-04 9.98650285e-01 -2.95965188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:-5.50, Z:-2.96 [[ 9.68191555e-01 2.45008697e-01 5.07528531e-02 4.71649322e+01] [-2.44772301e-01 9.69519112e-01 -1.09183922e-02 -5.49718699e+00] [-5.18809621e-02 -1.85179756e-03 9.98651559e-01 -2.96142276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-5.50, Z:-2.96 [[ 9.68284148e-01 2.44718398e-01 5.03856531e-02 4.71944026e+01] [-2.44485037e-01 9.69592482e-01 -1.08390721e-02 -5.49650481e+00] [-5.15060708e-02 -1.82323655e-03 9.98671017e-01 -2.96324297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:47.22, Y:-5.50, Z:-2.96 [[ 9.68430931e-01 2.44165256e-01 5.02479771e-02 4.72218674e+01] [-2.43932550e-01 9.69731983e-01 -1.08070342e-02 -5.49969427e+00] [-5.13657728e-02 -1.79125104e-03 9.98678301e-01 -2.96499995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:-5.50, Z:-2.97 [[ 9.68618457e-01 2.43437447e-01 5.01646602e-02 4.72493841e+01] [-2.43204700e-01 9.69915015e-01 -1.07859643e-02 -5.50291179e+00] [-5.12811648e-02 -1.75279709e-03 9.98682717e-01 -2.96706704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:-5.50, Z:-2.97 [[ 9.69089963e-01 2.41546703e-01 5.01979399e-02 4.72776915e+01] [-2.41311275e-01 9.70387781e-01 -1.07899738e-02 -5.50265288e+00] [-5.13177501e-02 -1.65687354e-03 9.98681002e-01 -2.96923103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:-5.51, Z:-2.97 [[ 9.69367640e-01 2.40436610e-01 5.01658778e-02 4.73067793e+01] [-2.40200159e-01 9.70663524e-01 -1.07799520e-02 -5.50571983e+00] [-5.12860829e-02 -1.60011518e-03 9.98682721e-01 -2.97159123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-5.51, Z:-2.97 [[ 9.69721768e-01 2.39023797e-01 5.00731126e-02 4.73345164e+01] [-2.38786464e-01 9.71012512e-01 -1.07575823e-02 -5.50973061e+00] [-5.11929370e-02 -1.52491975e-03 9.98687618e-01 -2.97365314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:-5.51, Z:-2.98 [[ 9.70860084e-01 2.34426750e-01 4.97473229e-02 4.73628771e+01] [-2.34186629e-01 9.72132948e-01 -1.06843433e-02 -5.51313743e+00] [-5.08657075e-02 -1.27715540e-03 9.98704685e-01 -2.97556753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:47.39, Y:-5.52, Z:-2.98 [[ 9.71560914e-01 2.31549988e-01 4.95378034e-02 4.73911095e+01] [-2.31308274e-01 9.72822358e-01 -1.06368666e-02 -5.51770724e+00] [-5.06544490e-02 -1.12413998e-03 9.98715607e-01 -2.97706666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:-5.52, Z:-2.98 [[ 9.72289717e-01 2.28466978e-01 4.95534615e-02 4.74190812e+01] [-2.28221231e-01 9.73551183e-01 -1.06378139e-02 -5.52125709e+00] [-5.06732203e-02 -9.66114868e-04 9.98714820e-01 -2.97914091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-5.52, Z:-2.98 [[ 9.73698197e-01 2.22335565e-01 4.97867259e-02 4.74474945e+01] [-2.22079646e-01 9.74969984e-01 -1.06846099e-02 -5.52457993e+00] [-5.09161322e-02 -6.53033074e-04 9.98702719e-01 -2.98061231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902640000000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.48, Y:-5.53, Z:-2.98 [[ 9.74337330e-01 2.19478543e-01 4.99593561e-02 4.74767841e+01] [-2.19217230e-01 9.75617195e-01 -1.07189042e-02 -5.53046474e+00] [-5.10937763e-02 -5.08123167e-04 9.98693731e-01 -2.98215809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-5.54, Z:-2.98 [[ 9.74836412e-01 2.17316237e-01 4.96751735e-02 4.75056516e+01] [-2.17055148e-01 9.76101172e-01 -1.06566796e-02 -5.53661400e+00] [-5.08038646e-02 -3.93732867e-04 9.98708572e-01 -2.98434332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.53, Y:-5.54, Z:-2.99 [[ 9.75332742e-01 2.15259378e-01 4.88819171e-02 4.75343284e+01] [-2.15004044e-01 9.76556870e-01 -1.04852895e-02 -5.54389216e+00] [-4.99930288e-02 -2.83163733e-04 9.98749527e-01 -2.98564053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:-5.55, Z:-2.99 [[ 9.75277346e-01 2.15620150e-01 4.83947276e-02 4.75622918e+01] [-2.15370382e-01 9.76477271e-01 -1.03796666e-02 -5.54865338e+00] [-4.94944169e-02 -2.99737313e-04 9.98774355e-01 -2.98751418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:-5.55, Z:-2.99 [[ 9.75088942e-01 2.16560636e-01 4.79900595e-02 4.75909791e+01] [-2.16316253e-01 9.76269108e-01 -1.02911341e-02 -5.55275729e+00] [-4.90798672e-02 -3.46258755e-04 9.98794797e-01 -2.98890831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-5.56, Z:-2.99 [[ 9.74691283e-01 2.18284744e-01 4.82563403e-02 4.76182382e+01] [-2.18039865e-01 9.75885023e-01 -1.03459310e-02 -5.55648839e+00] [-4.93509986e-02 -4.37717134e-04 9.98781401e-01 -2.99066404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:-5.56, Z:-2.99 [[ 9.73692156e-01 2.22562426e-01 4.88830476e-02 4.76475584e+01] [-2.22316683e-01 9.74918213e-01 -1.04771043e-02 -5.55904348e+00] [-4.99887831e-02 -6.66042709e-04 9.98749557e-01 -2.99194083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.56, Z:-2.99 [[ 9.73256110e-01 2.24546890e-01 4.84895616e-02 4.76749036e+01] [-2.24307665e-01 9.74462986e-01 -1.03904265e-02 -5.56326962e+00] [-4.95844209e-02 -7.64034240e-04 9.98769644e-01 -2.99371625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.57, Z:-3.00 [[ 9.72860700e-01 2.26213309e-01 4.86785164e-02 4.77038033e+01] [-2.25974459e-01 9.74077413e-01 -1.04276953e-02 -5.56763719e+00] [-4.97755268e-02 -8.55406422e-04 9.98760064e-01 -2.99594527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.57, Z:-3.00 [[ 9.72307187e-01 2.28600850e-01 4.85838021e-02 4.77318116e+01] [-2.28366020e-01 9.73519745e-01 -1.04050899e-02 -5.56987143e+00] [-4.96759031e-02 -9.77945822e-04 9.98764911e-01 -2.99833324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.57, Z:-3.00 [[ 9.72191387e-01 2.29170109e-01 4.82179187e-02 4.77599233e+01] [-2.28939664e-01 9.73385872e-01 -1.03234743e-02 -5.57397561e+00] [-4.93004726e-02 -1.00260137e-03 9.98783489e-01 -2.99982553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.58, Z:-3.00 [[ 9.72100147e-01 2.29570969e-01 4.81505318e-02 4.77883878e+01] [-2.29341843e-01 9.73291385e-01 -1.03053118e-02 -5.57830557e+00] [-4.92302982e-02 -1.02513660e-03 9.98786928e-01 -3.00190622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.58, Z:-3.00 [[ 9.72072963e-01 2.29677512e-01 4.81912360e-02 4.78159689e+01] [-2.29448239e-01 9.73266239e-01 -1.03118091e-02 -5.58190312e+00] [-4.92712937e-02 -1.03356342e-03 9.98784897e-01 -3.00362174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:-5.58, Z:-3.00 [[ 9.72026799e-01 2.29963956e-01 4.77543896e-02 4.78427689e+01] [-2.29739341e-01 9.73198589e-01 -1.02148014e-02 -5.58365417e+00] [-4.88235407e-02 -1.04200129e-03 9.98806876e-01 -3.00454175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.59, Z:-3.01 [[ 9.71989067e-01 2.30085148e-01 4.79382798e-02 4.78693211e+01] [-2.29859149e-01 9.73169928e-01 -1.02500031e-02 -5.58719752e+00] [-4.90104658e-02 -1.05616121e-03 9.98797707e-01 -3.00661221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:-5.59, Z:-3.01 [[ 9.72076051e-01 2.29801994e-01 4.75309889e-02 4.78975602e+01] [-2.29579757e-01 9.73236849e-01 -1.01572671e-02 -5.59069160e+00] [-4.85930702e-02 -1.03851683e-03 9.98818119e-01 -3.00780446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:-5.59, Z:-3.01 [[ 9.72265640e-01 2.29037049e-01 4.73450704e-02 4.79251635e+01] [-2.28815804e-01 9.73417193e-01 -1.01141758e-02 -5.59393017e+00] [-4.84030265e-02 -9.99634790e-04 9.98827386e-01 -3.00941335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.60, Z:-3.01 [[ 9.72632332e-01 2.27407080e-01 4.76693388e-02 4.79522453e+01] [-2.27181014e-01 9.73799342e-01 -1.01798211e-02 -5.59623531e+00] [-4.87353341e-02 -9.28345604e-04 9.98811296e-01 -3.01170803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.60, Z:-3.01 [[ 9.72883321e-01 2.26335305e-01 4.76484396e-02 4.79783117e+01] [-2.26108366e-01 9.74049053e-01 -1.01709732e-02 -5.60090863e+00] [-4.87139678e-02 -8.78540625e-04 9.98812384e-01 -3.01341736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.61, Z:-3.02 [[ 9.73104487e-01 2.25372424e-01 4.76962090e-02 4.80057534e+01] [-2.25144084e-01 9.74272330e-01 -1.01768757e-02 -5.60582813e+00] [-4.87626838e-02 -8.35355914e-04 9.98810043e-01 -3.01511519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:-5.61, Z:-3.02 [[ 9.73367067e-01 2.24208076e-01 4.78256432e-02 4.80319875e+01] [-2.23977265e-01 9.74540982e-01 -1.02009256e-02 -5.60986612e+00] [-4.88951792e-02 -7.82611724e-04 9.98803609e-01 -3.01664575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.61, Z:-3.02 [[ 9.73832883e-01 2.22295863e-01 4.72658944e-02 4.80600722e+01] [-2.22068382e-01 9.74979017e-01 -1.00772295e-02 -5.61202511e+00] [-4.83233817e-02 -6.82723181e-04 9.98831510e-01 -3.01889495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.62, Z:-3.02 [[ 9.74063567e-01 2.21432199e-01 4.65612420e-02 4.80863730e+01] [-2.21210628e-01 9.75175564e-01 -9.92361791e-03 -5.61575775e+00] [-4.76027939e-02 -6.33606901e-04 9.98866143e-01 -3.01991837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:-5.62, Z:-3.02 [[ 9.74322279e-01 2.20318494e-01 4.64312258e-02 4.81132315e+01] [-2.20097094e-01 9.75427815e-01 -9.89172236e-03 -5.61799250e+00] [-4.74696385e-02 -5.81652425e-04 9.98872512e-01 -3.02119236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622640000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.14, Y:-5.62, Z:-3.02 [[ 9.74464523e-01 2.19674547e-01 4.64971637e-02 4.81409757e+01] [-2.19451982e-01 9.75573055e-01 -9.90163779e-03 -5.62257916e+00] [-4.75365178e-02 -5.55099985e-04 9.98869346e-01 -3.02328840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:-5.63, Z:-3.02 [[ 9.74556750e-01 2.19226990e-01 4.66761937e-02 4.81677598e+01] [-2.19002358e-01 9.75673735e-01 -9.93631986e-03 -5.62767287e+00] [-4.77190457e-02 -5.38688892e-04 9.98860652e-01 -3.02434842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:-5.63, Z:-3.03 [[ 9.74567868e-01 2.19116720e-01 4.69609730e-02 4.81957725e+01] [-2.18889417e-01 9.75698504e-01 -9.99262475e-03 -5.63265103e+00] [-4.80093022e-02 -5.40768994e-04 9.98846742e-01 -3.02571738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-5.63, Z:-3.03 [[ 9.74188352e-01 2.20500104e-01 4.83400257e-02 4.82228914e+01] [-2.20261131e-01 9.75386747e-01 -1.02823955e-02 -5.63360330e+00] [-4.94174897e-02 -6.30438806e-04 9.98778011e-01 -3.02635662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.64, Z:-3.03 [[ 9.73933019e-01 2.21505142e-01 4.88870791e-02 4.82497505e+01] [-2.21262209e-01 9.75158957e-01 -1.03943972e-02 -5.63719074e+00] [-4.99750855e-02 -6.93416510e-04 9.98750224e-01 -3.02778613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.64, Z:-3.03 [[ 9.73657013e-01 2.22629543e-01 4.92758382e-02 4.82775716e+01] [-2.22384389e-01 9.74902819e-01 -1.04726549e-02 -5.64168949e+00] [-5.03706760e-02 -7.61403258e-04 9.98730302e-01 -3.02944104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.65, Z:-3.03 [[ 9.73437190e-01 2.23636927e-01 4.90567316e-02 4.83052554e+01] [-2.23395415e-01 9.74672182e-01 -1.04223512e-02 -5.64624408e+00] [-5.01450542e-02 -8.13544662e-04 9.98741614e-01 -3.03099418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:-5.65, Z:-3.03 [[ 9.73229558e-01 2.24637268e-01 4.86037652e-02 4.83316327e+01] [-2.24401628e-01 9.74442075e-01 -1.03224233e-02 -5.64905639e+00] [-4.96803548e-02 -8.60676526e-04 9.98764798e-01 -3.03350274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.36, Y:-5.65, Z:-3.04 [[ 9.73236004e-01 2.24603792e-01 4.86293895e-02 4.83589321e+01] [-2.24368093e-01 9.74449788e-01 -1.03232089e-02 -5.65402071e+00] [-4.97055302e-02 -8.63964847e-04 9.98763543e-01 -3.03598279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.66, Z:-3.04 [[ 9.73357579e-01 2.24035533e-01 4.88170369e-02 4.83866586e+01] [-2.23797480e-01 9.74580613e-01 -1.03593683e-02 -5.65874891e+00] [-4.98970044e-02 -8.41760222e-04 9.98754014e-01 -3.03746081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.66, Z:-3.04 [[ 9.73671387e-01 2.22792032e-01 4.82466613e-02 4.84130366e+01] [-2.22558163e-01 9.74865690e-01 -1.02347681e-02 -5.66214205e+00] [-4.93142396e-02 -7.72387402e-04 9.98783014e-01 -3.03973562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:-5.67, Z:-3.04 [[ 9.73869529e-01 2.21982906e-01 4.79763450e-02 4.84410628e+01] [-2.21750887e-01 9.75050283e-01 -1.01729866e-02 -5.66674310e+00] [-4.90375779e-02 -7.31635405e-04 9.98796666e-01 -3.04128131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:48.47, Y:-5.67, Z:-3.04 [[ 9.74099933e-01 2.21089179e-01 4.74225321e-02 4.84679127e+01] [-2.20861595e-01 9.75253357e-01 -1.00521489e-02 -5.67220653e+00] [-4.84714049e-02 -6.82018558e-04 9.98824338e-01 -3.04327576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.50, Y:-5.68, Z:-3.05 [[ 9.74381217e-01 2.19964493e-01 4.68707355e-02 4.84954946e+01] [-2.19741080e-01 9.75507680e-01 -9.93097090e-03 -5.67699233e+00] [-4.79072235e-02 -6.22874531e-04 9.98851596e-01 -3.04504595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-5.68, Z:-3.05 [[ 9.74893903e-01 2.17924169e-01 4.57267310e-02 4.85230672e+01] [-2.17709441e-01 9.75965570e-01 -9.68532929e-03 -5.68180298e+00] [-4.67383824e-02 -5.12972589e-04 9.98907033e-01 -3.04801581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.69, Z:-3.05 [[ 9.75134021e-01 2.16912033e-01 4.54181791e-02 4.85493570e+01] [-2.16699251e-01 9.76191044e-01 -9.61667467e-03 -5.68701808e+00] [-4.64227921e-02 -4.64538754e-04 9.98921773e-01 -3.04928450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:48.58, Y:-5.69, Z:-3.05 [[ 9.75294180e-01 2.16222764e-01 4.52656548e-02 4.85764029e+01] [-2.16010860e-01 9.76343960e-01 -9.58021388e-03 -5.69209089e+00] [-4.62663090e-02 -4.34346200e-04 9.98929047e-01 -3.05133271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:-5.70, Z:-3.05 [[ 9.75366255e-01 2.15827448e-01 4.55980444e-02 4.86025794e+01] [-2.15612123e-01 9.76431429e-01 -9.64766082e-03 -5.69737586e+00] [-4.66055936e-02 -4.21488371e-04 9.98913280e-01 -3.05238260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.63, Y:-5.70, Z:-3.05 [[ 9.75282621e-01 2.16078707e-01 4.61930998e-02 4.86302447e+01] [-2.15858316e-01 9.76375847e-01 -9.76695681e-03 -5.70274078e+00] [-4.72122583e-02 -4.45621508e-04 9.98884780e-01 -3.05404338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:-5.71, Z:-3.06 [[ 9.75104995e-01 2.16784636e-01 4.66333604e-02 4.86578811e+01] [-2.16561000e-01 9.76219332e-01 -9.85645734e-03 -5.70770238e+00] [-4.76611165e-02 -4.87886371e-04 9.98863444e-01 -3.05501137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:-5.71, Z:-3.06 [[ 9.74885548e-01 2.17715356e-01 4.68848836e-02 4.86854042e+01] [-2.17490546e-01 9.76012158e-01 -9.90606149e-03 -5.71207516e+00] [-4.79169181e-02 -5.39742736e-04 9.98851179e-01 -3.05667490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-5.72, Z:-3.06 [[ 9.74342384e-01 2.20109577e-01 4.69967240e-02 4.87125047e+01] [-2.19886616e-01 9.75474928e-01 -9.92675440e-03 -5.71575545e+00] [-4.80290997e-02 -6.61893037e-04 9.98845718e-01 -3.05769748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:-5.72, Z:-3.06 [[ 9.73978039e-01 2.21565520e-01 4.77022063e-02 4.87400555e+01] [-2.21337916e-01 9.75145197e-01 -1.00683842e-02 -5.72003453e+00] [-4.87473841e-02 -7.51921795e-04 9.98810857e-01 -3.05921505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:-5.72, Z:-3.06 [[ 9.73609474e-01 2.23050997e-01 4.82995314e-02 4.87673849e+01] [-2.22819659e-01 9.74806415e-01 -1.01908181e-02 -5.72371847e+00] [-4.93557652e-02 -8.40208079e-04 9.98780908e-01 -3.06049313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-5.73, Z:-3.06 [[ 9.73280863e-01 2.24463922e-01 4.83767521e-02 4.87947011e+01] [-2.24233766e-01 9.74481969e-01 -1.02034978e-02 -5.72767927e+00] [-4.94325898e-02 -9.16832132e-04 9.98777041e-01 -3.06185172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-5.73, Z:-3.06 [[ 9.72744360e-01 2.26649332e-01 4.89743820e-02 4.88218825e+01] [-2.26416401e-01 9.73975867e-01 -1.03258566e-02 -5.73181198e+00] [-5.00402147e-02 -1.04418455e-03 9.98746658e-01 -3.06405047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.74, Z:-3.07 [[ 9.72628910e-01 2.27192064e-01 4.87521257e-02 4.88494190e+01] [-2.26962049e-01 9.73849383e-01 -1.02765101e-02 -5.73672536e+00] [-4.98119691e-02 -1.06965158e-03 9.98758041e-01 -3.06563599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432640000000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.88, Y:-5.74, Z:-3.07 [[ 9.72570277e-01 2.27479675e-01 4.85803861e-02 4.88762538e+01] [-2.27252142e-01 9.73782218e-01 -1.02301300e-02 -5.74072274e+00] [-4.96338628e-02 -1.09047648e-03 9.98766885e-01 -3.06746175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.75, Z:-3.07 [[ 9.72583733e-01 2.27421939e-01 4.85813056e-02 4.89041095e+01] [-2.27194552e-01 9.73795702e-01 -1.02257616e-02 -5.74645542e+00] [-4.96338291e-02 -1.09199853e-03 9.98766885e-01 -3.06916088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:-5.75, Z:-3.07 [[ 9.72700811e-01 2.27044073e-01 4.80012634e-02 4.89320595e+01] [-2.26821763e-01 9.73883905e-01 -1.01008814e-02 -5.74720181e+00] [-4.90410031e-02 -1.06259562e-03 9.98796201e-01 -3.07046001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.96, Y:-5.75, Z:-3.07 [[ 9.72871525e-01 2.26470734e-01 4.72440743e-02 4.89597654e+01] [-2.26254877e-01 9.74017436e-01 -9.93809043e-03 -5.75119297e+00] [-4.82672387e-02 -1.02071704e-03 9.98833936e-01 -3.07357220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:-5.76, Z:-3.08 [[ 9.73136622e-01 2.25471240e-01 4.65600134e-02 4.89878114e+01] [-2.25260614e-01 9.74249351e-01 -9.79071972e-03 -5.75504821e+00] [-4.75685885e-02 -9.60429301e-04 9.98867512e-01 -3.07531847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-5.76, Z:-3.08 [[ 9.73416947e-01 2.24409405e-01 4.58243056e-02 4.90146140e+01] [-2.24204366e-01 9.74494543e-01 -9.63266777e-03 -5.75922056e+00] [-4.68171969e-02 -8.97407350e-04 9.98903071e-01 -3.07714722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-5.76, Z:-3.08 [[ 9.73919820e-01 2.22393841e-01 4.49573521e-02 4.90408817e+01] [-2.22194528e-01 9.74956592e-01 -9.44643007e-03 -5.76282909e+00] [-4.59322946e-02 -7.89212172e-04 9.98944243e-01 -3.07904595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-5.77, Z:-3.08 [[ 9.74092907e-01 2.21564819e-01 4.52994347e-02 4.90680415e+01] [-2.21361762e-01 9.75145350e-01 -9.51404192e-03 -5.76775402e+00] [-4.62815101e-02 -7.60001938e-04 9.98928148e-01 -3.08050609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.77, Z:-3.08 [[ 9.74224962e-01 2.20914836e-01 4.56328603e-02 4.90951496e+01] [-2.20708229e-01 9.75292823e-01 -9.58053294e-03 -5.77249685e+00] [-4.66218830e-02 -7.37953465e-04 9.98912336e-01 -3.08146546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:-5.78, Z:-3.08 [[ 9.74466912e-01 2.19728327e-01 4.61919852e-02 4.91220569e+01] [-2.19515456e-01 9.75560855e-01 -9.69444001e-03 -5.77583366e+00] [-4.71932356e-02 -6.92943679e-04 9.98885538e-01 -3.08200346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:-5.78, Z:-3.08 [[ 9.74552994e-01 2.19229693e-01 4.67418928e-02 4.91484122e+01] [-2.19011354e-01 9.75673039e-01 -9.80554318e-03 -5.78069167e+00] [-4.77544708e-02 -6.80983780e-04 9.98858872e-01 -3.08296579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-5.79, Z:-3.08 [[ 9.74611673e-01 2.18791903e-01 4.75624864e-02 4.91757677e+01] [-2.18565518e-01 9.75771309e-01 -9.97331929e-03 -5.78583987e+00] [-4.85921911e-02 -6.75406101e-04 9.98818473e-01 -3.08435198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792640000000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.20, Y:-5.79, Z:-3.09 [[ 9.74655775e-01 2.18499667e-01 4.80001747e-02 4.92034314e+01] [-2.18268916e-01 9.75836793e-01 -1.00615184e-02 -5.79105876e+00] [-4.90387749e-02 -6.70429124e-04 9.98796651e-01 -3.08588917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:-5.79, Z:-3.09 [[ 9.74575612e-01 2.18884389e-01 4.78748508e-02 4.92312511e+01] [-2.18655482e-01 9.75750555e-01 -1.00316491e-02 -5.79429263e+00] [-4.89096836e-02 -6.91498074e-04 9.98802966e-01 -3.08677340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:-5.80, Z:-3.09 [[ 9.74371195e-01 2.19837932e-01 4.76661011e-02 4.92586748e+01] [-2.19612331e-01 9.75536128e-01 -9.98436028e-03 -5.79865184e+00] [-4.86949448e-02 -7.39590492e-04 9.98813424e-01 -3.08788038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:-5.80, Z:-3.09 [[ 9.74000238e-01 2.21397004e-01 4.80302292e-02 4.92854938e+01] [-2.21170012e-01 9.75183410e-01 -1.00570032e-02 -5.80282999e+00] [-4.90648731e-02 -8.27322875e-04 9.98795251e-01 -3.08912723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.31, Y:-5.81, Z:-3.09 [[ 9.72975726e-01 2.25663196e-01 4.89321917e-02 4.93138270e+01] [-2.25433148e-01 9.74204797e-01 -1.02424866e-02 -5.80545430e+00] [-4.99813281e-02 -1.06524716e-03 9.98749584e-01 -3.09104331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-5.81, Z:-3.09 [[ 9.72431694e-01 2.27970822e-01 4.90500260e-02 4.93402932e+01] [-2.27743167e-01 9.73667227e-01 -1.02557475e-02 -5.80954973e+00] [-5.00964140e-02 -1.19779432e-03 9.98743668e-01 -3.09213878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-5.81, Z:-3.09 [[ 9.72079239e-01 2.29610165e-01 4.83851831e-02 4.93678527e+01] [-2.29390826e-01 9.73281853e-01 -1.01135762e-02 -5.81393175e+00] [-4.94146005e-02 -1.26791970e-03 9.98777548e-01 -3.09431896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.82, Z:-3.10 [[ 9.71844989e-01 2.30856621e-01 4.71438074e-02 4.93942200e+01] [-2.30650384e-01 9.72986902e-01 -9.84324949e-03 -5.81829793e+00] [-4.81426864e-02 -1.30762459e-03 9.98839613e-01 -3.09670329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:-5.82, Z:-3.10 [[ 9.71537161e-01 2.32104680e-01 4.73599295e-02 4.94214866e+01] [-2.31898238e-01 9.72689834e-01 -9.88402076e-03 -5.81915503e+00] [-4.83606494e-02 -1.37999072e-03 9.98828986e-01 -3.09764945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:-5.82, Z:-3.10 [[ 9.71563831e-01 2.31967677e-01 4.74838895e-02 4.94492963e+01] [-2.31760139e-01 9.72722516e-01 -9.90680549e-03 -5.82265916e+00] [-4.84867071e-02 -1.37977895e-03 9.98822875e-01 -3.09933488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:-5.83, Z:-3.10 [[ 9.71717048e-01 2.31382560e-01 4.72026484e-02 4.94771735e+01] [-2.31177237e-01 9.72861904e-01 -9.83876399e-03 -5.82694333e+00] [-4.81981768e-02 -1.35168313e-03 9.98836878e-01 -3.10084182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.83, Z:-3.10 [[ 9.71938921e-01 2.30488668e-01 4.70075201e-02 4.95033608e+01] [-2.30284523e-01 9.73074124e-01 -9.78710481e-03 -5.83073383e+00] [-4.79976182e-02 -1.31263627e-03 9.98846588e-01 -3.10291589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.83, Z:-3.10 [[ 9.72639002e-01 2.27593412e-01 4.66327119e-02 4.95319677e+01] [-2.27389322e-01 9.73755558e-01 -9.70618973e-03 -5.83250171e+00] [-4.76179272e-02 -1.16316206e-03 9.98864946e-01 -3.10403468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.84, Z:-3.11 [[ 9.73099683e-01 2.25628918e-01 4.65682131e-02 4.95597957e+01] [-2.25423578e-01 9.74212727e-01 -9.68367201e-03 -5.83729515e+00] [-4.75522623e-02 -1.07439507e-03 9.98868173e-01 -3.10564989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.84, Z:-3.11 [[ 9.73993107e-01 2.21720343e-01 4.66638708e-02 4.95859336e+01] [-2.21510189e-01 9.75109885e-01 -9.69272672e-03 -5.84272963e+00] [-4.76514763e-02 -8.95873830e-04 9.98863621e-01 -3.10719727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:-5.85, Z:-3.11 [[ 9.74431654e-01 2.19740752e-01 4.68716794e-02 4.96123416e+01] [-2.19526633e-01 9.75557969e-01 -9.73171370e-03 -5.84690179e+00] [-4.78644944e-02 -8.06692072e-04 9.98853512e-01 -3.10874344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.64, Y:-5.85, Z:-3.11 [[ 9.74879430e-01 2.17671610e-01 4.72140680e-02 4.96404610e+01] [-2.17452062e-01 9.76021804e-01 -9.79993848e-03 -5.85099137e+00] [-4.82151282e-02 -7.13038010e-04 9.98836720e-01 -3.11113366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302640000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.67, Y:-5.86, Z:-3.11 [[ 9.75323047e-01 2.15619215e-01 4.74690267e-02 4.96664554e+01] [-2.15395389e-01 9.76477323e-01 -9.84192423e-03 -5.85580014e+00] [-4.84745361e-02 -6.25553966e-04 9.98824223e-01 -3.11322099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:-5.86, Z:-3.11 [[ 9.76100564e-01 2.12072696e-01 4.74643106e-02 4.96943393e+01] [-2.11844863e-01 9.77253789e-01 -9.83802854e-03 -5.86136598e+00] [-4.84710546e-02 -4.52165174e-04 9.98824485e-01 -3.11404911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:-5.87, Z:-3.12 [[ 9.76302289e-01 2.11130148e-01 4.75173808e-02 4.97208960e+01] [-2.10901220e-01 9.77457870e-01 -9.83811003e-03 -5.86550779e+00] [-4.85233594e-02 -4.16504237e-04 9.98821961e-01 -3.11601826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:-5.87, Z:-3.12 [[ 9.76398791e-01 2.10617634e-01 4.78080866e-02 4.97479332e+01] [-2.10385488e-01 9.77568440e-01 -9.89404581e-03 -5.86939572e+00] [-4.88195372e-02 -3.97593267e-04 9.98807536e-01 -3.11806814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:-5.87, Z:-3.12 [[ 9.76468602e-01 2.10278596e-01 4.78746389e-02 4.97752342e+01] [-2.10045542e-01 9.77641429e-01 -9.90483072e-03 -5.87415297e+00] [-4.88870043e-02 -3.84098285e-04 9.98804242e-01 -3.11978528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:-5.88, Z:-3.12 [[ 9.76407780e-01 2.10315182e-01 4.89425399e-02 4.98031820e+01] [-2.10072221e-01 9.77633551e-01 -1.01144544e-02 -5.87900126e+00] [-4.99750924e-02 -4.05636109e-04 9.98750382e-01 -3.12177726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.88, Z:-3.12 [[ 9.76404845e-01 2.10183830e-01 4.95614502e-02 4.98296760e+01] [-2.09934683e-01 9.77661798e-01 -1.02390022e-02 -5.88305933e+00] [-5.06064092e-02 -4.07255927e-04 9.98718592e-01 -3.12313250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:-5.89, Z:-3.12 [[ 9.76471168e-01 2.09780043e-01 4.99638980e-02 4.98571605e+01] [-2.09526643e-01 9.77748524e-01 -1.03154845e-02 -5.88702455e+00] [-5.10161104e-02 -3.95994594e-04 9.98697752e-01 -3.12435380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:-5.89, Z:-3.13 [[ 9.76864139e-01 2.07987726e-01 4.97750882e-02 4.98851682e+01] [-2.07734468e-01 9.78131386e-01 -1.02655899e-02 -5.89133685e+00] [-5.08216927e-02 -3.11914852e-04 9.98707694e-01 -3.12697336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.90, Z:-3.13 [[ 9.77285819e-01 2.06256364e-01 4.86902445e-02 4.99124502e+01] [-2.06012062e-01 9.78497963e-01 -1.00382575e-02 -5.89747203e+00] [-4.97137596e-02 -2.20530969e-04 9.98763482e-01 -3.12928154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.90, Z:-3.13 [[ 9.77762351e-01 2.04115013e-01 4.81440087e-02 4.99395930e+01] [-2.03873745e-01 9.78946908e-01 -9.92208041e-03 -5.90405645e+00] [-4.91556740e-02 -1.13862662e-04 9.98791123e-01 -3.13244993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.91, Z:-3.14 [[ 9.78368359e-01 2.01408528e-01 4.72224462e-02 4.99662297e+01] [-2.01173422e-01 9.79507327e-01 -9.72882034e-03 -5.91023203e+00] [-4.82141995e-02 1.84689065e-05 9.98837019e-01 -3.13508029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:-5.92, Z:-3.14 [[ 9.79367825e-01 1.96767523e-01 4.60565380e-02 4.99930398e+01] [-1.96538946e-01 9.80450144e-01 -9.48455417e-03 -5.91740591e+00] [-4.70223916e-02 2.36963736e-04 9.98893807e-01 -3.13781185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:-5.92, Z:-3.14 [[ 9.79749443e-01 1.94945622e-01 4.56862511e-02 5.00203313e+01] [-1.94718886e-01 9.80814000e-01 -9.40491009e-03 -5.92311504e+00] [-4.66431607e-02 3.18479521e-04 9.98911565e-01 -3.13976470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.93, Z:-3.14 [[ 9.80064553e-01 1.93434142e-01 4.53509135e-02 5.00470717e+01] [-1.93209255e-01 9.81113187e-01 -9.33268168e-03 -5.92901165e+00] [-4.62996385e-02 3.84414299e-04 9.98927523e-01 -3.14149681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:-5.94, Z:-3.14 [[ 9.80242767e-01 1.92578631e-01 4.51396516e-02 5.00727944e+01] [-1.92355108e-01 9.81281456e-01 -9.28530442e-03 -5.93543354e+00] [-4.60828542e-02 4.19009928e-04 9.98937533e-01 -3.14338852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.10, Y:-5.94, Z:-3.14 [[ 9.80239509e-01 1.92751216e-01 4.44687848e-02 5.00998596e+01] [-1.92534646e-01 9.81247577e-01 -9.14343010e-03 -5.94380895e+00] [-4.53972946e-02 4.00969715e-04 9.98968931e-01 -3.14459150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:-5.95, Z:-3.15 [[ 9.80016383e-01 1.93562904e-01 4.58398353e-02 5.01268509e+01] [-1.93333814e-01 9.81087796e-01 -9.42188239e-03 -5.95056003e+00] [-4.67966299e-02 3.71208908e-04 9.98904369e-01 -3.14618595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:-5.96, Z:-3.15 [[ 9.79751594e-01 1.94611039e-01 4.70463363e-02 5.01535098e+01] [-1.94371103e-01 9.80880440e-01 -9.66628892e-03 -5.95704026e+00] [-4.80279976e-02 3.26113703e-04 9.98845937e-01 -3.14696439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872640000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.18, Y:-5.96, Z:-3.15 [[ 9.79273208e-01 1.96649020e-01 4.85092357e-02 5.01802260e+01] [-1.96396648e-01 9.80473921e-01 -9.96223910e-03 -5.96430613e+00] [-4.95211051e-02 2.28702566e-04 9.98773051e-01 -3.14782937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902640000000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:50.21, Y:-5.97, Z:-3.15 [[ 9.78995836e-01 1.98055443e-01 4.83858945e-02 5.02067848e+01] [-1.97806245e-01 9.80190807e-01 -9.93336618e-03 -5.97058112e+00] [-4.93947662e-02 1.53692037e-04 9.98779322e-01 -3.14965221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:-5.98, Z:-3.15 [[ 9.78738509e-01 1.99288091e-01 4.85302854e-02 5.02326285e+01] [-1.99039131e-01 9.79940942e-01 -9.95867549e-03 -5.97648464e+00] [-4.95414590e-02 8.75133533e-05 9.98772064e-01 -3.15224373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:-5.98, Z:-3.15 [[ 9.78208009e-01 2.02064370e-01 4.77397277e-02 5.02596615e+01] [-2.01826933e-01 9.79372241e-01 -9.79294196e-03 -5.98454111e+00] [-4.87337688e-02 -5.56285677e-05 9.98811802e-01 -3.15458643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:-5.99, Z:-3.16 [[ 9.77931617e-01 2.03386022e-01 4.77899397e-02 5.02855420e+01] [-2.03149953e-01 9.79098621e-01 -9.79729432e-03 -5.99143994e+00] [-4.87836968e-02 -1.27440110e-04 9.98809359e-01 -3.15691282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:-6.00, Z:-3.16 [[ 9.77609541e-01 2.05006869e-01 4.74528005e-02 5.03128014e+01] [-2.04776377e-01 9.78760511e-01 -9.72098092e-03 -5.99804347e+00] [-4.84377951e-02 -2.13888869e-04 9.98826178e-01 -3.15874630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:-6.00, Z:-3.16 [[ 9.77291157e-01 2.06652163e-01 4.68708742e-02 5.03389021e+01] [-2.06429347e-01 9.78414430e-01 -9.59835421e-03 -6.00312099e+00] [-4.78426603e-02 -2.95137250e-04 9.98854841e-01 -3.16044989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082640000000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.37, Y:-6.01, Z:-3.16 [[ 9.76636723e-01 2.09883119e-01 4.61496272e-02 5.03677143e+01] [-2.09638146e-01 9.77726457e-01 -1.01402114e-02 -6.00695609e+00] [-4.72499706e-02 2.28580571e-04 9.98883070e-01 -3.16191641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112640000000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:50.39, Y:-6.01, Z:-3.16 [[ 9.76239602e-01 2.11647886e-01 4.64909843e-02 5.03948529e+01] [-2.11465059e-01 9.77345284e-01 -8.87266448e-03 -6.01328235e+00] [-4.73156250e-02 -1.16937229e-03 9.98879304e-01 -3.16372087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:-6.02, Z:-3.17 [[ 9.75796557e-01 2.13579556e-01 4.69558596e-02 5.04210816e+01] [-2.13364762e-01 9.76925457e-01 -9.59848524e-03 -6.01806079e+00] [-4.79224148e-02 -6.52556941e-04 9.98850848e-01 -3.16584878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:-6.02, Z:-3.17 [[ 9.75038680e-01 2.17107533e-01 4.65176459e-02 5.04484079e+01] [-2.16900868e-01 9.76147348e-01 -9.50619221e-03 -6.02137509e+00] [-4.74719426e-02 -8.20812685e-04 9.98872235e-01 -3.16766079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-6.03, Z:-3.17 [[ 9.74723677e-01 2.18538349e-01 4.64192059e-02 5.04756314e+01] [-2.18334625e-01 9.75827948e-01 -9.47669167e-03 -6.02551279e+00] [-4.73681790e-02 -8.97764154e-04 9.98877094e-01 -3.16988307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:-6.03, Z:-3.17 [[ 9.74437703e-01 2.19830447e-01 4.63221099e-02 5.05023979e+01] [-2.19629542e-01 9.75537614e-01 -9.44611208e-03 -6.03010335e+00] [-4.72655036e-02 -9.69056014e-04 9.98881891e-01 -3.17197682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:-6.03, Z:-3.17 [[ 9.74150342e-01 2.21091291e-01 4.63654259e-02 5.05307281e+01] [-2.20891568e-01 9.75252568e-01 -9.45215024e-03 -6.03215565e+00] [-4.73077888e-02 -1.03391624e-03 9.98879825e-01 -3.17444718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:-6.04, Z:-3.18 [[ 9.74226108e-01 2.20846712e-01 4.59371382e-02 5.05587349e+01] [-2.20650812e-01 9.75307996e-01 -9.35587309e-03 -6.03531973e+00] [-4.68690720e-02 -1.02133101e-03 9.98900519e-01 -3.17626400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.59, Y:-6.04, Z:-3.18 [[ 9.74454107e-01 2.19864204e-01 4.58140269e-02 5.05863536e+01] [-2.19668685e-01 9.75529995e-01 -9.32189017e-03 -6.03904680e+00] [-4.67425074e-02 -9.80152893e-04 9.98906491e-01 -3.17820662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:-6.04, Z:-3.18 [[ 9.75162012e-01 2.16315089e-01 4.76112671e-02 5.06138186e+01] [-2.16100172e-01 9.76323234e-01 -9.67773227e-03 -6.04330352e+00] [-4.85774258e-02 -8.51446139e-04 9.98819057e-01 -3.18061433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:-6.05, Z:-3.18 [[ 9.75202432e-01 2.16132359e-01 4.76132312e-02 5.06416918e+01] [-2.15917696e-01 9.76363701e-01 -9.66805874e-03 -6.04879012e+00] [-4.85774110e-02 -8.52224795e-04 9.98819057e-01 -3.18231221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:-6.05, Z:-3.18 [[ 9.75726520e-01 2.13665777e-01 4.80072282e-02 5.06683542e+01] [-2.13445077e-01 9.76906536e-01 -9.73752781e-03 -6.05404759e+00] [-4.89791515e-02 -7.45742411e-04 9.98799523e-01 -3.18390876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442640000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.70, Y:-6.06, Z:-3.19 [[ 9.76326037e-01 2.10933317e-01 4.79020349e-02 5.06962045e+01] [-2.10710514e-01 9.77500262e-01 -9.71173121e-03 -6.05853903e+00] [-4.88727794e-02 -6.11646333e-04 9.98804824e-01 -3.18505650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:-6.06, Z:-3.19 [[ 9.77405871e-01 2.05792519e-01 4.82410886e-02 5.07232168e+01] [-2.05560462e-01 9.78595580e-01 -9.77688105e-03 -6.06166945e+00] [-4.92205250e-02 -3.60479503e-04 9.98787870e-01 -3.18719451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.07, Z:-3.19 [[ 9.77973179e-01 2.03093206e-01 4.81831020e-02 5.07494696e+01] [-2.02858643e-01 9.79159383e-01 -9.76082319e-03 -6.06761606e+00] [-4.91612933e-02 -2.28535392e-04 9.98790826e-01 -3.18918625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:-6.07, Z:-3.19 [[ 9.78483777e-01 2.00524525e-01 4.85737830e-02 5.07765626e+01] [-2.00283186e-01 9.79688677e-01 -9.83570657e-03 -6.07383852e+00] [-4.95594856e-02 -1.04432716e-04 9.98771168e-01 -3.19125918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:-6.08, Z:-3.19 [[ 9.78956521e-01 1.98122781e-01 4.89028910e-02 5.08033389e+01] [-1.97875345e-01 9.80177210e-01 -9.89870951e-03 -6.07877801e+00] [-4.98946591e-02 1.37298219e-05 9.98754486e-01 -3.19232821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.08, Z:-3.19 [[ 9.79833460e-01 1.93831621e-01 4.85354844e-02 5.08310648e+01] [-1.93582843e-01 9.81034786e-01 -9.81995997e-03 -6.08323286e+00] [-4.95184173e-02 2.26288301e-04 9.98773185e-01 -3.19344512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:-6.09, Z:-3.20 [[ 9.80196542e-01 1.91776619e-01 4.93605876e-02 5.08582130e+01] [-1.91566253e-01 9.81438398e-01 -9.00229199e-03 -6.09005065e+00] [-5.01708052e-02 -6.31807355e-04 9.98740452e-01 -3.19553712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:-6.10, Z:-3.20 [[ 9.80433001e-01 1.90567973e-01 4.93454954e-02 5.08851992e+01] [-1.90256769e-01 9.81673048e-01 -1.09721900e-02 -6.09515612e+00] [-5.05320908e-02 1.36918266e-03 9.98721499e-01 -3.19686922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:-6.10, Z:-3.20 [[ 9.80683004e-01 1.89131853e-01 4.98997877e-02 5.09113641e+01] [-1.88863540e-01 9.81951592e-01 -1.00814044e-02 -6.10051536e+00] [-5.09058906e-02 4.62411371e-04 9.98703348e-01 -3.19800101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:-6.11, Z:-3.20 [[ 9.80710048e-01 1.88974937e-01 4.99627298e-02 5.09389282e+01] [-1.88706085e-01 9.81981801e-01 -1.00874116e-02 -6.10681936e+00] [-5.09687594e-02 4.64554735e-04 9.98700140e-01 -3.19997991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:-6.11, Z:-3.20 [[ 9.80717334e-01 1.88957563e-01 4.98853645e-02 5.09661468e+01] [-1.88689710e-01 9.81985146e-01 -1.00680893e-02 -6.11373486e+00] [-5.08891285e-02 4.61094747e-04 9.98704202e-01 -3.20166292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.99, Y:-6.12, Z:-3.20 [[ 9.80665973e-01 1.89285680e-01 4.96505842e-02 5.09933807e+01] [-1.89020948e-01 9.81921962e-01 -1.00170960e-02 -6.12036977e+00] [-5.06490918e-02 4.38424674e-04 9.98716415e-01 -3.20323734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:-6.13, Z:-3.21 [[ 9.80322720e-01 1.91270688e-01 4.88148475e-02 5.10199398e+01] [-1.91017415e-01 9.81537272e-01 -9.84531050e-03 -6.12513725e+00] [-4.97967116e-02 3.27095578e-04 9.98759321e-01 -3.20521728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:-6.13, Z:-3.21 [[ 9.80124651e-01 1.92409136e-01 4.83155620e-02 5.10473655e+01] [-1.92162735e-01 9.81314759e-01 -9.73787350e-03 -6.13032024e+00] [-4.92864299e-02 2.59879320e-04 9.98784652e-01 -3.20720034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:-6.14, Z:-3.21 [[ 9.79888179e-01 1.93589397e-01 4.83973459e-02 5.10748053e+01] [-1.93343777e-01 9.81082620e-01 -9.75075563e-03 -6.13628828e+00] [-4.93694378e-02 1.97324510e-04 9.98780566e-01 -3.20871990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:-6.14, Z:-3.21 [[ 9.79658626e-01 1.94744121e-01 4.84118239e-02 5.11026069e+01] [-1.94499941e-01 9.80854071e-01 -9.75007354e-03 -6.14224149e+00] [-4.93837040e-02 1.35646750e-04 9.98779871e-01 -3.21035555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:-6.15, Z:-3.21 [[ 9.78983838e-01 1.98248717e-01 4.78339848e-02 5.11288794e+01] [-1.98014681e-01 9.80151745e-01 -9.63025886e-03 -6.14725051e+00] [-4.87937501e-02 -4.39634596e-05 9.98808875e-01 -3.21136025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:-6.15, Z:-3.21 [[ 9.78638359e-01 1.99946252e-01 4.78378458e-02 5.11562732e+01] [-1.99714416e-01 9.79806858e-01 -9.62668999e-03 -6.15268369e+00] [-4.87966700e-02 -1.32859370e-04 9.98808724e-01 -3.21274748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:51.18, Y:-6.16, Z:-3.21 [[ 9.78119273e-01 2.02479916e-01 4.77971875e-02 5.11837656e+01] [-2.02251672e-01 9.79286380e-01 -9.61491769e-03 -6.15929217e+00] [-4.87539625e-02 -2.62524773e-04 9.98810784e-01 -3.21419791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:-6.16, Z:-3.22 [[ 9.77921207e-01 2.03407205e-01 4.79126386e-02 5.12115441e+01] [-2.03179146e-01 9.79094179e-01 -9.63451439e-03 -6.16444161e+00] [-4.88707152e-02 -3.13053045e-04 9.98805064e-01 -3.21611746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:-6.17, Z:-3.22 [[ 9.77844513e-01 2.03786434e-01 4.78664516e-02 5.12384384e+01] [-2.03559441e-01 9.79015310e-01 -9.62170248e-03 -6.16855172e+00] [-4.88227614e-02 -3.35139148e-04 9.98807402e-01 -3.21700676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.27, Y:-6.17, Z:-3.22 [[ 9.77853704e-01 2.03387842e-01 4.93509724e-02 5.12658947e+01] [-2.03146269e-01 9.79098196e-01 -9.91545492e-03 -6.17285124e+00] [-5.03361310e-02 -3.29601592e-04 9.98732279e-01 -3.21914615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:-6.18, Z:-3.22 [[ 9.77970727e-01 2.02737129e-01 4.97082940e-02 5.12927630e+01] [-2.02491384e-01 9.79233152e-01 -9.98368257e-03 -6.17803524e+00] [-5.07000725e-02 -3.01751934e-04 9.98713879e-01 -3.22050831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:-6.18, Z:-3.22 [[ 9.78178197e-01 2.01791658e-01 4.94726273e-02 5.13199026e+01] [-2.01547245e-01 9.79428436e-01 -9.93210163e-03 -6.18264824e+00] [-5.04591132e-02 -2.55706454e-04 9.98726095e-01 -3.22148074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:-6.19, Z:-3.22 [[ 9.78622998e-01 1.99751784e-01 4.89515339e-02 5.13465659e+01] [-1.99510099e-01 9.79846519e-01 -9.82438582e-03 -6.18772495e+00] [-4.99274287e-02 -1.51955490e-04 9.98752837e-01 -3.22444315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:-6.19, Z:-3.23 [[ 9.78895619e-01 1.98688349e-01 4.78153476e-02 5.13735470e+01] [-1.98456837e-01 9.80062717e-01 -9.58928189e-03 -6.19342606e+00] [-4.87673181e-02 -1.02376630e-04 9.98810161e-01 -3.22615663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:-6.20, Z:-3.23 [[ 9.79093896e-01 1.97584691e-01 4.83263057e-02 5.14006564e+01] [-1.97455121e-01 9.80283328e-01 -7.48814010e-03 -6.19963408e+00] [-4.88530136e-02 -2.21068429e-03 9.98803532e-01 -3.22870544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:-6.20, Z:-3.23 [[ 9.79325097e-01 1.96389453e-01 4.85132604e-02 5.14292438e+01] [-1.96157508e-01 9.80525958e-01 -9.54348292e-03 -6.20116010e+00] [-4.94427505e-02 -1.70067918e-04 9.98776945e-01 -3.22936232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:-6.20, Z:-3.23 [[ 9.79390455e-01 1.96180693e-01 4.80361592e-02 5.14568763e+01] [-1.95825583e-01 9.80564869e-01 -1.20365473e-02 -6.20388536e+00] [-4.94639083e-02 2.38177066e-03 9.98773072e-01 -3.22989147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:-6.21, Z:-3.23 [[ 9.79504521e-01 1.95452669e-01 4.86738951e-02 5.14829792e+01] [-1.95210070e-01 9.80713135e-01 -9.73528430e-03 -6.20954607e+00] [-4.96379156e-02 3.41205124e-05 9.98767278e-01 -3.23111862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:-6.21, Z:-3.23 [[ 9.79638373e-01 1.94812607e-01 4.85459241e-02 5.15097076e+01] [-1.94570707e-01 9.80840479e-01 -9.70544979e-03 -6.21450277e+00] [-4.95065514e-02 6.22162740e-05 9.98773797e-01 -3.23219134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:-6.22, Z:-3.23 [[ 9.80040915e-01 1.92818844e-01 4.83807611e-02 5.15372328e+01] [-1.92576365e-01 9.81234359e-01 -9.66826913e-03 -6.21795211e+00] [-4.93370896e-02 1.58308210e-04 9.98782172e-01 -3.23334618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:-6.22, Z:-3.24 [[ 9.80252003e-01 1.91706362e-01 4.85250694e-02 5.15634752e+01] [-1.91461249e-01 9.81452305e-01 -9.69349538e-03 -6.22304724e+00] [-4.94833459e-02 2.11397844e-04 9.98774926e-01 -3.23516195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:-6.23, Z:-3.24 [[ 9.80496982e-01 1.90412080e-01 4.86714250e-02 5.15902944e+01] [-1.90164114e-01 9.81704215e-01 -9.71825957e-03 -6.22908451e+00] [-4.96314171e-02 2.73165758e-04 9.98767564e-01 -3.23691817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:51.62, Y:-6.24, Z:-3.24 [[ 9.81056529e-01 1.87188665e-01 4.98847794e-02 5.16171891e+01] [-1.86924201e-01 9.82323881e-01 -9.95670521e-03 -6.23548059e+00] [-5.08667924e-02 4.43418134e-04 9.98705348e-01 -3.23774260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:-6.24, Z:-3.24 [[ 9.81333650e-01 1.85483048e-01 5.07967073e-02 5.16439540e+01] [-1.85206738e-01 9.82647317e-01 -1.01348119e-02 -6.24079346e+00] [-5.17950839e-02 5.37739538e-04 9.98657589e-01 -3.23846378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:-6.25, Z:-3.24 [[ 9.81663652e-01 1.83625215e-01 5.11688806e-02 5.16714093e+01] [-1.83342561e-01 9.82996122e-01 -1.02043669e-02 -6.24655388e+00] [-5.21725902e-02 6.35822509e-04 9.98637881e-01 -3.23958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:-6.26, Z:-3.24 [[ 9.82307201e-01 1.80509406e-01 4.98890548e-02 5.16971102e+01] [-1.80236878e-01 9.83572951e-01 -9.94578745e-03 -6.25577923e+00] [-5.08648330e-02 7.77971164e-04 9.98705244e-01 -3.24139207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:-6.26, Z:-3.24 [[ 9.82545191e-01 1.79368158e-01 4.93154227e-02 5.17225766e+01] [-1.79100715e-01 9.83781677e-01 -9.82574339e-03 -6.26324624e+00] [-5.02780347e-02 8.21809456e-04 9.98734922e-01 -3.24352172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612640000000006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.75, Y:-6.27, Z:-3.24 [[ 9.82759369e-01 1.78256467e-01 4.90780552e-02 5.17492146e+01] [-1.77990427e-01 9.83983676e-01 -9.77410800e-03 -6.27034059e+00] [-5.00343031e-02 8.70172219e-04 9.98747121e-01 -3.24472172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:-6.28, Z:-3.25 [[ 9.82792514e-01 1.78093385e-01 4.90063307e-02 5.17762509e+01] [-1.77828102e-01 9.84013203e-01 -9.75618276e-03 -6.27762881e+00] [-4.99603881e-02 8.73600583e-04 9.98750818e-01 -3.24661062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:-6.29, Z:-3.25 [[ 9.82772529e-01 1.77840188e-01 5.03092884e-02 5.18015346e+01] [-1.78036650e-01 9.84023683e-01 -5.84950061e-04 -6.29244511e+00] [-4.96095589e-02 -8.38202433e-03 9.98733515e-01 -3.24546017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.29, Z:-3.25 [[ 9.82751763e-01 1.78659516e-01 4.77467187e-02 5.18307738e+01] [-1.77943407e-01 9.83859505e-01 -1.88843503e-02 -6.28905117e+00] [-5.03499319e-02 1.00624148e-02 9.98680946e-01 -3.24837985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:-6.30, Z:-3.25 [[ 9.82735317e-01 1.78385674e-01 4.90901986e-02 5.18566328e+01] [-1.78120368e-01 9.83960278e-01 -9.76246296e-03 -6.30200906e+00] [-5.00442890e-02 8.49952921e-04 9.98746638e-01 -3.25119628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:-6.31, Z:-3.25 [[ 9.82684054e-01 1.79092117e-01 4.75190871e-02 5.18826813e+01] [-1.78844524e-01 9.83831997e-01 -9.44659967e-03 -6.31243854e+00] [-4.84426099e-02 7.84494364e-04 9.98825660e-01 -3.25279785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.91, Y:-6.32, Z:-3.25 [[ 9.82619195e-01 1.79587912e-01 4.69861633e-02 5.19104895e+01] [-1.79346567e-01 9.83741644e-01 -9.33740513e-03 -6.32100913e+00] [-4.78991306e-02 7.48306454e-04 9.98851898e-01 -3.25395068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:-6.33, Z:-3.26 [[ 9.82279062e-01 1.81616712e-01 4.62948590e-02 5.19367012e+01] [-1.81384774e-01 9.83369190e-01 -9.19785367e-03 -6.33140555e+00] [-4.71954220e-02 6.37676510e-04 9.98885472e-01 -3.25610732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:51.96, Y:-6.34, Z:-3.26 [[ 9.82095925e-01 1.82599470e-01 4.63144370e-02 5.19629737e+01] [-1.82368553e-01 9.83187209e-01 -9.19908773e-03 -6.33928834e+00] [-4.72155106e-02 5.88089731e-04 9.98884553e-01 -3.25750739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:51.99, Y:-6.35, Z:-3.26 [[ 9.81840011e-01 1.84075397e-01 4.58959836e-02 5.19897902e+01] [-1.83850444e-01 9.82911995e-01 -9.11177230e-03 -6.34745426e+00] [-4.67889659e-02 5.08305652e-04 9.98904667e-01 -3.25896760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:-6.36, Z:-3.26 [[ 9.81520247e-01 1.85913660e-01 4.53223438e-02 5.20170197e+01] [-1.85696407e-01 9.82565998e-01 -8.99463868e-03 -6.35558461e+00] [-4.62044201e-02 4.12223594e-04 9.98931920e-01 -3.26080115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:-6.36, Z:-3.26 [[ 9.80826681e-01 1.89639436e-01 4.48988540e-02 5.20433414e+01] [-1.89430274e-01 9.81853773e-01 -8.90731879e-03 -6.36484714e+00] [-4.57732881e-02 2.31333695e-04 9.98951827e-01 -3.26194860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:-6.37, Z:-3.26 [[ 9.80464723e-01 1.91698326e-01 4.40531397e-02 5.20694122e+01] [-1.91499195e-01 9.81453888e-01 -8.73631565e-03 -6.37195614e+00] [-4.49108623e-02 1.29508512e-04 9.98990990e-01 -3.26317831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:-6.38, Z:-3.27 [[ 9.79670244e-01 1.95911517e-01 4.31843917e-02 5.20964311e+01] [-1.95724393e-01 9.80621575e-01 -8.56087761e-03 -6.38123848e+00] [-4.40247207e-02 -6.54017877e-05 9.99030440e-01 -3.26561107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:-6.39, Z:-3.27 [[ 9.79187251e-01 1.98348275e-01 4.30149934e-02 5.21234865e+01] [-1.98165104e-01 9.80131588e-01 -8.52414197e-03 -6.38765245e+00] [-4.38511026e-02 -1.77339506e-04 9.99038062e-01 -3.26659464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:-6.39, Z:-3.27 [[ 9.78704578e-01 2.00640580e-01 4.33671032e-02 5.21494883e+01] [-2.00456784e-01 9.79664879e-01 -8.59079667e-03 -6.39294818e+00] [-4.42088903e-02 -2.85377984e-04 9.99022268e-01 -3.26786687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:-6.40, Z:-3.27 [[ 9.77865173e-01 2.04658110e-01 4.35288679e-02 5.21769460e+01] [-2.04477091e-01 9.78833405e-01 -8.61884177e-03 -6.39899379e+00] [-4.43714259e-02 -4.72591101e-04 9.99014991e-01 -3.26855386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:-6.40, Z:-3.27 [[ 9.77533760e-01 2.06147635e-01 4.39420019e-02 5.22034615e+01] [-2.05964811e-01 9.78520747e-01 -8.69741724e-03 -6.40497748e+00] [-4.47911125e-02 -5.48487127e-04 9.98996224e-01 -3.27033205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:-6.41, Z:-3.27 [[ 9.77281173e-01 2.07461027e-01 4.33754660e-02 5.22310656e+01] [-2.07284358e-01 9.78243097e-01 -8.58126658e-03 -6.41067832e+00] [-4.42120286e-02 -6.04745365e-04 9.99021987e-01 -3.27170588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:-6.42, Z:-3.27 [[ 9.77052290e-01 2.08070084e-01 4.55594317e-02 5.22590727e+01] [-2.08081872e-01 9.78100893e-01 -4.53617496e-03 -6.41887578e+00] [-4.55055631e-02 -5.04801171e-03 9.98951331e-01 -3.27469136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.29, Y:-6.42, Z:-3.27 [[ 9.76783934e-01 2.09735685e-01 4.36358690e-02 5.22877080e+01] [-2.09363680e-01 9.77751706e-01 -1.29788946e-02 -6.41910170e+00] [-4.53871827e-02 3.54180967e-03 9.98963192e-01 -3.27363774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:-6.43, Z:-3.28 [[ 9.76809065e-01 2.09334750e-01 4.49779269e-02 5.23136161e+01] [-2.09147470e-01 9.77843765e-01 -8.88291560e-03 -6.42588045e+00] [-4.58408883e-02 -7.30107154e-04 9.98948487e-01 -3.27573124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.34, Y:-6.43, Z:-3.28 [[ 9.76821485e-01 2.09276608e-01 4.49787601e-02 5.23415414e+01] [-2.09089461e-01 9.77856209e-01 -8.87869418e-03 -6.43126152e+00] [-4.58408629e-02 -7.31685481e-04 9.98948487e-01 -3.27743531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:-6.44, Z:-3.28 [[ 9.76937045e-01 2.08923395e-01 4.41024466e-02 5.23692815e+01] [-2.08743223e-01 9.77931756e-01 -8.70325926e-03 -6.43626767e+00] [-4.49474975e-02 -7.03550476e-04 9.98989103e-01 -3.27868084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:-6.44, Z:-3.28 [[ 9.77190446e-01 2.07754094e-01 4.40121484e-02 5.23967735e+01] [-2.07573621e-01 9.78180869e-01 -8.68216832e-03 -6.43975883e+00] [-4.48555975e-02 -6.51629059e-04 9.98993269e-01 -3.28045138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:-6.45, Z:-3.28 [[ 9.77364905e-01 2.06350586e-01 4.66613085e-02 5.24244781e+01] [-2.06443132e-01 9.78454364e-01 -2.87946666e-03 -6.44761988e+00] [-4.62501405e-02 -6.81861700e-03 9.98906618e-01 -3.28286501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:-6.45, Z:-3.28 [[ 9.77616087e-01 2.05995209e-01 4.28107411e-02 5.24529692e+01] [-2.05543255e-01 9.78536853e-01 -1.47512155e-02 -6.44555759e+00] [-4.49305676e-02 5.62156652e-03 9.98974295e-01 -3.28345598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:-6.45, Z:-3.29 [[ 9.78406463e-01 2.02244071e-01 4.26395277e-02 5.24800014e+01] [-2.02069783e-01 9.79335071e-01 -8.40370380e-03 -6.45442273e+00] [-4.34579842e-02 -3.93922013e-04 9.99055178e-01 -3.28529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:-6.46, Z:-3.29 [[ 9.78835722e-01 2.00006015e-01 4.33384848e-02 5.25068791e+01] [-1.99823911e-01 9.79794623e-01 -8.53826813e-03 -6.45869459e+00] [-4.41705193e-02 -3.02503684e-04 9.99023961e-01 -3.28701825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:-6.46, Z:-3.29 [[ 9.79323162e-01 1.97567515e-01 4.35111699e-02 5.25346882e+01] [-1.97381731e-01 9.80289262e-01 -8.56819501e-03 -6.46286703e+00] [-4.43463296e-02 -1.97278229e-04 9.99016198e-01 -3.28785148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:-6.47, Z:-3.29 [[ 9.80446310e-01 1.91880633e-01 4.36675653e-02 5.25613416e+01] [-1.91688006e-01 9.81418269e-01 -8.59586296e-03 -6.46705211e+00] [-4.45055260e-02 5.72335947e-05 9.99009137e-01 -3.28854464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:-6.47, Z:-3.29 [[ 9.81022791e-01 1.88861108e-01 4.38835397e-02 5.25889114e+01] [-1.88663731e-01 9.82003791e-01 -8.63430150e-03 -6.47270993e+00] [-4.47244861e-02 1.91214221e-04 9.98999341e-01 -3.29022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:-6.48, Z:-3.29 [[ 9.81585178e-01 1.85969207e-01 4.36576605e-02 5.26165778e+01] [-1.85771140e-01 9.82555521e-01 -8.58667232e-03 -6.47895564e+00] [-4.44929321e-02 3.18216916e-04 9.99009648e-01 -3.29174285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.64, Y:-6.49, Z:-3.29 [[ 9.82575082e-01 1.80779543e-01 4.31852457e-02 5.26441433e+01] [-1.80580884e-01 9.83523493e-01 -8.49018584e-03 -6.48843526e+00] [-4.40085556e-02 5.43815193e-04 9.99031006e-01 -3.29352114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:-6.50, Z:-3.29 [[ 9.82859959e-01 1.79175473e-01 4.33872164e-02 5.26707068e+01] [-1.78973478e-01 9.83816939e-01 -8.52787264e-03 -6.49534964e+00] [-4.42130640e-02 6.16543547e-04 9.99021934e-01 -3.29498169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.70, Y:-6.50, Z:-3.30 [[ 9.83034456e-01 1.78223145e-01 4.33562915e-02 5.26984966e+01] [-1.78020640e-01 9.83989878e-01 -8.51888935e-03 -6.50236464e+00] [-4.41804153e-02 6.56046998e-04 9.99023353e-01 -3.29646214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.51, Z:-3.30 [[ 9.83123738e-01 1.77701784e-01 4.34717324e-02 5.27254724e+01] [-1.77672498e-01 9.84079073e-01 -4.56748156e-03 -6.51151009e+00] [-4.35912717e-02 -3.23333174e-03 9.99044217e-01 -3.29776522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722640000000006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.75, Y:-6.52, Z:-3.30 [[ 9.82991241e-01 1.78808663e-01 4.19008625e-02 5.27539475e+01] [-1.78451928e-01 9.83873796e-01 -1.21352070e-02 -6.51508188e+00] [-4.33950408e-02 4.45151253e-03 9.99048074e-01 -3.29881694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:-6.52, Z:-3.30 [[ 9.82720162e-01 1.79974744e-01 4.32455068e-02 5.27805960e+01] [-1.79775258e-01 9.83671067e-01 -8.49053696e-03 -6.52397995e+00] [-4.40674360e-02 5.69349708e-04 9.99028396e-01 -3.30073949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:-6.53, Z:-3.30 [[ 9.82415190e-01 1.81658073e-01 4.31362779e-02 5.28085575e+01] [-1.81461344e-01 9.83361635e-01 -8.46614711e-03 -6.53050392e+00] [-4.39565047e-02 4.89704546e-04 9.99033326e-01 -3.30150473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:-6.54, Z:-3.30 [[ 9.81509870e-01 1.86402300e-01 4.35035262e-02 5.28359396e+01] [-1.86206958e-01 9.82473463e-01 -8.53599213e-03 -6.53748650e+00] [-4.43321886e-02 2.77501250e-04 9.99016807e-01 -3.30302354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:-6.54, Z:-3.30 [[ 9.80935219e-01 1.89304670e-01 4.39299216e-02 5.28635388e+01] [-1.89108471e-01 9.81918388e-01 -8.61775074e-03 -6.54450559e+00] [-4.47669782e-02 1.45934914e-04 9.98997446e-01 -3.30465497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:-6.55, Z:-3.31 [[ 9.79670924e-01 1.95755953e-01 4.38689733e-02 5.28905854e+01] [-1.95566897e-01 9.80652632e-01 -8.60261066e-03 -6.55141309e+00] [-4.47042363e-02 -1.51591433e-04 9.99000254e-01 -3.30581673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:-6.56, Z:-3.31 [[ 9.78915835e-01 1.99520378e-01 4.37653510e-02 5.29171478e+01] [-1.99336111e-01 9.79893623e-01 -8.57916678e-03 -6.55556150e+00] [-4.45971070e-02 -3.25732679e-04 9.99005001e-01 -3.30761931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:-6.56, Z:-3.31 [[ 9.78187669e-01 2.03152022e-01 4.33375035e-02 5.29446547e+01] [-2.02975076e-01 9.79147086e-01 -8.49135307e-03 -6.56014439e+00] [-4.41588258e-02 -4.90296214e-04 9.99024403e-01 -3.30916949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:-6.57, Z:-3.31 [[ 9.77525090e-01 2.06379807e-01 4.30357304e-02 5.29713244e+01] [-2.06208575e-01 9.78471754e-01 -8.42918093e-03 -6.56512995e+00] [-4.38488594e-02 -6.34600796e-04 9.99037975e-01 -3.31140155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.57, Z:-3.31 [[ 9.76362512e-01 2.11874334e-01 4.27260095e-02 5.29985598e+01] [-2.11710980e-01 9.77296523e-01 -8.36458296e-03 -6.56999093e+00] [-4.35282210e-02 -8.78700116e-04 9.99051811e-01 -3.31393256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:-6.57, Z:-3.32 [[ 9.75970116e-01 2.13745363e-01 4.23704170e-02 5.30247992e+01] [-2.13586608e-01 9.76888942e-01 -8.29198203e-03 -6.57392538e+00] [-4.31635646e-02 -9.57026984e-04 9.99067561e-01 -3.31574973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:-6.58, Z:-3.32 [[ 9.75678940e-01 2.15136360e-01 4.20351249e-02 5.30521744e+01] [-2.14981565e-01 9.76583492e-01 -8.22246760e-03 -6.57847592e+00] [-4.28197609e-02 -1.01428847e-03 9.99082299e-01 -3.31744820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:-6.58, Z:-3.32 [[ 9.75543406e-01 2.15625077e-01 4.26718732e-02 5.30791613e+01] [-2.15466157e-01 9.76475660e-01 -8.34390969e-03 -6.58185461e+00] [-4.34672017e-02 -1.05449847e-03 9.99054298e-01 -3.31938570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-6.59, Z:-3.32 [[ 9.75690689e-01 2.14997271e-01 4.24717965e-02 5.31071260e+01] [-2.14839415e-01 9.76614111e-01 -8.30083428e-03 -6.58630660e+00] [-4.32632125e-02 -1.02556920e-03 9.99063183e-01 -3.32128426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:-6.59, Z:-3.32 [[ 9.76133856e-01 2.12973402e-01 4.24855985e-02 5.31334326e+01] [-2.12813656e-01 9.77057546e-01 -8.30057122e-03 -6.58970143e+00] [-4.32786755e-02 -9.39046940e-04 9.99062598e-01 -3.32381024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:-6.59, Z:-3.33 [[ 9.76432257e-01 2.11629732e-01 4.23426906e-02 5.31595540e+01] [-2.11469954e-01 9.77349519e-01 -8.26900986e-03 -6.59478562e+00] [-4.31335766e-02 -8.80078874e-04 9.99068927e-01 -3.32594985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:-6.60, Z:-3.33 [[ 9.76731237e-01 2.10281547e-01 4.21635188e-02 5.31873657e+01] [-2.10122026e-01 9.77640526e-01 -8.23022691e-03 -6.60017892e+00] [-4.29514296e-02 -8.20764306e-04 9.99076824e-01 -3.32841351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:53.22, Y:-6.60, Z:-3.33 [[ 9.77052256e-01 2.08884440e-01 4.16674798e-02 5.32153733e+01] [-2.08727509e-01 9.77940041e-01 -8.13041039e-03 -6.60473750e+00] [-4.24466131e-02 -7.53313469e-04 9.99098452e-01 -3.32877141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:-6.61, Z:-3.33 [[ 9.77241866e-01 2.07774444e-01 4.27564723e-02 5.32424446e+01] [-2.07608272e-01 9.78176493e-01 -8.33983744e-03 -6.60721225e+00] [-4.35561813e-02 -7.26559062e-04 9.99050715e-01 -3.33175818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.61, Z:-3.33 [[ 9.77347870e-01 2.07329690e-01 4.24916608e-02 5.32691351e+01] [-2.07165307e-01 9.78270873e-01 -8.28458827e-03 -6.61156788e+00] [-4.32859952e-02 -7.05873251e-04 9.99062473e-01 -3.33339197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:-6.62, Z:-3.33 [[ 9.77423341e-01 2.07015037e-01 4.22893316e-02 5.32968166e+01] [-2.06852082e-01 9.78337516e-01 -8.24141865e-03 -6.61637536e+00] [-4.30793372e-02 -6.92281322e-04 9.99071415e-01 -3.33479952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:-6.62, Z:-3.34 [[ 9.77538666e-01 2.06390966e-01 4.26722955e-02 5.33246599e+01] [-2.06224590e-01 9.78469374e-01 -8.31285203e-03 -6.61905248e+00] [-4.34692318e-02 -6.73942348e-04 9.99054539e-01 -3.33614611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:-6.62, Z:-3.34 [[ 9.77603724e-01 2.05846264e-01 4.37981030e-02 5.33515400e+01] [-2.05670588e-01 9.78584113e-01 -8.52894302e-03 -6.62250167e+00] [-4.46157788e-02 -6.70055125e-04 9.99003996e-01 -3.33834844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:-6.63, Z:-3.34 [[ 9.77720068e-01 2.05021485e-01 4.50517377e-02 5.33790522e+01] [-2.04834928e-01 9.78757254e-01 -8.76872101e-03 -6.62615982e+00] [-4.58924913e-02 -6.54814920e-04 9.98946170e-01 -3.34102044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:-6.63, Z:-3.34 [[ 9.78055604e-01 2.03459715e-01 4.48484001e-02 5.34056311e+01] [-2.03273314e-01 9.79083146e-01 -8.72659342e-03 -6.63018435e+00] [-4.56858229e-02 -5.81389336e-04 9.98955688e-01 -3.34157309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472640000000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.63, Z:-3.34 [[ 9.78326238e-01 2.02167610e-01 4.47887279e-02 5.34334048e+01] [-2.01980548e-01 9.79350796e-01 -8.71068350e-03 -6.63469963e+00] [-4.56248944e-02 -5.24561573e-04 9.98958505e-01 -3.34239539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.46, Y:-6.64, Z:-3.35 [[ 9.78891993e-01 1.99478080e-01 4.44855216e-02 5.34597587e+01] [-1.99290912e-01 9.79902207e-01 -8.64849361e-03 -6.63874588e+00] [-4.53166457e-02 -3.99619049e-04 9.98972593e-01 -3.34543795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:-6.64, Z:-3.35 [[ 9.79302386e-01 1.97516872e-01 4.42031923e-02 5.34876012e+01] [-1.97330263e-01 9.80299438e-01 -8.58945382e-03 -6.64407179e+00] [-4.50289267e-02 -3.10954935e-04 9.98985635e-01 -3.34748870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:-6.65, Z:-3.35 [[ 9.79697735e-01 1.95558590e-01 4.41495852e-02 5.35151247e+01] [-1.95370588e-01 9.80691994e-01 -8.57587069e-03 -6.64963804e+00] [-4.49742299e-02 -2.23769333e-04 9.98988122e-01 -3.34929236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.66, Z:-3.35 [[ 9.80214475e-01 1.92877312e-01 4.44738772e-02 5.35428561e+01] [-1.92683930e-01 9.81222876e-01 -8.63547308e-03 -6.65582060e+00] [-4.53043725e-02 -1.04785750e-04 9.98973224e-01 -3.35085035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.66, Z:-3.35 [[ 9.80326232e-01 1.92335747e-01 4.43558383e-02 5.35699548e+01] [-1.92142988e-01 9.81329177e-01 -8.60920714e-03 -6.66123000e+00] [-4.51835366e-02 -8.28317152e-05 9.98978699e-01 -3.35219116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.67, Z:-3.35 [[ 9.80342622e-01 1.92256979e-01 4.43350566e-02 5.35963372e+01] [-1.92064465e-01 9.81344612e-01 -8.60197797e-03 -6.66618850e+00] [-4.51617592e-02 -8.23033019e-05 9.98979684e-01 -3.35361464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:-6.67, Z:-3.36 [[ 9.80258352e-01 1.92618896e-01 4.46265062e-02 5.36239577e+01] [-1.92424404e-01 9.81273637e-01 -8.65439644e-03 -6.67163623e+00] [-4.54578144e-02 -1.03684485e-04 9.98966254e-01 -3.35560074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:-6.68, Z:-3.36 [[ 9.80056471e-01 1.93659419e-01 4.45571885e-02 5.36504728e+01] [-1.93466753e-01 9.81068808e-01 -8.63771688e-03 -6.67702248e+00] [-4.53864431e-02 -1.54884262e-04 9.98969492e-01 -3.35714163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:-6.68, Z:-3.36 [[ 9.79904400e-01 1.94532936e-01 4.40942506e-02 5.36784762e+01] [-1.94345322e-01 9.80895967e-01 -8.54387133e-03 -6.68186977e+00] [-4.49139370e-02 -1.97334239e-04 9.98990840e-01 -3.35840024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:-6.69, Z:-3.36 [[ 9.79705612e-01 1.95396269e-01 4.46901691e-02 5.37058935e+01] [-1.95487849e-01 9.80703297e-01 -2.35449453e-03 -6.69096251e+00] [-4.42878557e-02 -6.42967351e-03 9.98998121e-01 -3.35805416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802640000000004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:53.73, Y:-6.69, Z:-3.36 [[ 9.79281194e-01 1.97609767e-01 4.42574673e-02 5.37330547e+01] [-1.97133162e-01 9.80263036e-01 -1.49297316e-02 -6.69030235e+00] [-4.63342200e-02 5.89579089e-03 9.98908594e-01 -3.36039201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:-6.70, Z:-3.36 [[ 9.79180229e-01 1.97898835e-01 4.51899396e-02 5.37595561e+01] [-1.97706076e-01 9.80222378e-01 -8.74057435e-03 -6.70022222e+00] [-4.60259395e-02 -3.75728016e-04 9.98940174e-01 -3.36299061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:-6.71, Z:-3.36 [[ 9.78866596e-01 1.99434735e-01 4.52324451e-02 5.37859836e+01] [-1.99243388e-01 9.79911008e-01 -8.74582617e-03 -6.70536862e+00] [-4.60679924e-02 -4.51268523e-04 9.98938205e-01 -3.36434121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:-6.71, Z:-3.37 [[ 9.78712508e-01 2.00220581e-01 4.50948489e-02 5.38132771e+01] [-2.00031473e-01 9.79750722e-01 -8.71393345e-03 -6.70966378e+00] [-4.59264195e-02 -4.91953386e-04 9.98944704e-01 -3.36623269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:-6.71, Z:-3.37 [[ 9.78575439e-01 2.00983337e-01 4.46744613e-02 5.38401472e+01] [-2.00798680e-01 9.79594519e-01 -8.62950771e-03 -6.71400165e+00] [-4.54972447e-02 -5.25948576e-04 9.98964326e-01 -3.36820114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:-6.72, Z:-3.37 [[ 9.78287275e-01 2.02503390e-01 4.41178558e-02 5.38672171e+01] [-2.02325027e-01 9.79281382e-01 -8.51809168e-03 -6.71829760e+00] [-4.49287372e-02 -5.93005684e-04 9.98990018e-01 -3.37033005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:-6.72, Z:-3.37 [[ 9.78189479e-01 2.02968097e-01 4.41508160e-02 5.38948585e+01] [-2.02790114e-01 9.79185156e-01 -8.52060562e-03 -6.72315555e+00] [-4.49612347e-02 -6.18582213e-04 9.98988541e-01 -3.37215616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:-6.73, Z:-3.37 [[ 9.78188120e-01 2.03013082e-01 4.39737541e-02 5.39218649e+01] [-2.02836710e-01 9.79175828e-01 -8.48329280e-03 -6.72782476e+00] [-4.47802565e-02 -6.21235374e-04 9.98996668e-01 -3.37404767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:-6.73, Z:-3.38 [[ 9.78273232e-01 2.02670967e-01 4.36573414e-02 5.39484798e+01] [-2.02496960e-01 9.79246707e-01 -8.41831154e-03 -6.73308854e+00] [-4.44574551e-02 -6.05070068e-04 9.99011095e-01 -3.37583578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:-6.74, Z:-3.38 [[ 9.78698972e-01 2.00694868e-01 4.32422442e-02 5.39754650e+01] [-2.00522380e-01 9.79653666e-01 -8.33481322e-03 -6.73854733e+00] [-4.40351773e-02 -5.13764609e-04 9.99029849e-01 -3.37765122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.00, Y:-6.74, Z:-3.38 [[ 9.78946823e-01 1.99426531e-01 4.34991580e-02 5.40029635e+01] [-1.99250876e-01 9.79912672e-01 -8.38115071e-03 -6.74434318e+00] [-4.42968000e-02 -4.62544479e-04 9.99018308e-01 -3.37872992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.03, Y:-6.75, Z:-3.38 [[ 9.79398811e-01 1.97108729e-01 4.38875594e-02 5.40300802e+01] [-1.96927741e-01 9.80381567e-01 -8.45273378e-03 -6.75040419e+00] [-4.46926618e-02 -3.64080491e-04 9.99000717e-01 -3.38028574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:-6.76, Z:-3.38 [[ 9.79629395e-01 1.96022567e-01 4.36050710e-02 5.40568628e+01] [-1.95842962e-01 9.80599334e-01 -8.39528274e-03 -6.75555011e+00] [-4.44047685e-02 -3.15480512e-04 9.99013572e-01 -3.38198231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:-6.76, Z:-3.38 [[ 9.79652733e-01 1.95905761e-01 4.36056709e-02 5.40848081e+01] [-1.95726179e-01 9.80622677e-01 -8.39216534e-03 -6.76076824e+00] [-4.44047833e-02 -3.13363628e-04 9.99013572e-01 -3.38368812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:-6.77, Z:-3.39 [[ 9.79818055e-01 1.94999595e-01 4.39515259e-02 5.41116302e+01] [-1.94816498e-01 9.80803283e-01 -8.45295664e-03 -6.76634292e+00] [-4.47561240e-02 -2.80122819e-04 9.98997903e-01 -3.38509536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:-6.77, Z:-3.39 [[ 9.79994704e-01 1.93894065e-01 4.48940153e-02 5.41386445e+01] [-1.93702109e-01 9.81022443e-01 -8.62895264e-03 -6.77342523e+00] [-4.57151393e-02 -2.39737566e-04 9.98954488e-01 -3.38641935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:-6.78, Z:-3.39 [[ 9.80039096e-01 1.93669973e-01 4.48922321e-02 5.41652637e+01] [-1.93477931e-01 9.81066709e-01 -8.62570385e-03 -6.77872360e+00] [-4.57128143e-02 -2.32129174e-04 9.98954596e-01 -3.38755183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:-6.78, Z:-3.39 [[ 9.79963555e-01 1.94112917e-01 4.46274141e-02 5.41931141e+01] [-1.93923826e-01 9.80979159e-01 -8.56970888e-03 -6.78345311e+00] [-4.54420543e-02 -2.56316514e-04 9.98966943e-01 -3.38861805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.22, Y:-6.79, Z:-3.39 [[ 9.79823229e-01 1.94868391e-01 4.44156481e-02 5.42203587e+01] [-1.94682011e-01 9.80829355e-01 -8.52586813e-03 -6.78806654e+00] [-4.52255937e-02 -2.93084059e-04 9.98976756e-01 -3.38935356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372640000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.25, Y:-6.80, Z:-3.39 [[ 9.79240904e-01 1.97562595e-01 4.53461510e-02 5.42476974e+01] [-1.97522163e-01 9.80283464e-01 -5.41531208e-03 -6.79548636e+00] [-4.55219451e-02 -3.65397472e-03 9.98956656e-01 -3.39006480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:54.28, Y:-6.80, Z:-3.39 [[ 9.78830394e-01 1.99766002e-01 4.45488987e-02 5.42759929e+01] [-1.99438286e-01 9.79840195e-01 -1.17287229e-02 -6.79754109e+00] [-4.59938017e-02 2.59567448e-03 9.98938353e-01 -3.39224154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:-6.80, Z:-3.39 [[ 9.78441729e-01 2.01478711e-01 4.53664164e-02 5.43025789e+01] [-2.01292085e-01 9.79492693e-01 -8.69253556e-03 -6.80357216e+00] [-4.61874342e-02 -6.26761027e-04 9.98932594e-01 -3.39402821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:-6.81, Z:-3.40 [[ 9.77643020e-01 2.05265075e-01 4.56111316e-02 5.43302267e+01] [-2.05080729e-01 9.78706078e-01 -8.73543247e-03 -6.80617594e+00] [-4.64329709e-02 -8.13829553e-04 9.98921076e-01 -3.39532512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:-6.81, Z:-3.40 [[ 9.77267915e-01 2.07022924e-01 4.57048196e-02 5.43575656e+01] [-2.06839900e-01 9.78335676e-01 -8.74994601e-03 -6.80982666e+00] [-4.65260949e-02 -9.02538812e-04 9.98916667e-01 -3.39692633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:-6.82, Z:-3.40 [[ 9.76527983e-01 2.09742940e-01 4.89999807e-02 5.43845148e+01] [-2.09926118e-01 9.77716198e-01 -1.43555134e-03 -6.81546688e+00] [-4.82091716e-02 -8.88451967e-03 9.98797748e-01 -3.40058878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:-6.81, Z:-3.40 [[ 9.76434136e-01 2.11346777e-01 4.36911658e-02 5.44140518e+01] [-2.10827246e-01 9.77388627e-01 -1.62278954e-02 -6.80998387e+00] [-4.61329619e-02 6.63418282e-03 9.98913278e-01 -3.40032906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-6.82, Z:-3.40 [[ 9.76424042e-01 2.11215126e-01 4.45450312e-02 5.44396387e+01] [-2.11046233e-01 9.77438995e-01 -8.51464615e-03 -6.81744302e+00] [-4.53384726e-02 -1.08715581e-03 9.98971091e-01 -3.40337981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:-6.82, Z:-3.41 [[ 9.76660037e-01 2.10328991e-01 4.35532838e-02 5.44674752e+01] [-2.10166825e-01 9.77630125e-01 -8.32126863e-03 -6.81953269e+00] [-4.43292063e-02 -1.02640484e-03 9.99016450e-01 -3.40582920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:-6.83, Z:-3.41 [[ 9.76806835e-01 2.09006317e-01 4.65270462e-02 5.44933226e+01] [-2.09160462e-01 9.77880049e-01 -1.58485445e-03 -6.82692393e+00] [-4.58291148e-02 -8.18352182e-03 9.98915773e-01 -3.40907962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:-6.82, Z:-3.41 [[ 9.77285742e-01 2.07778686e-01 4.17204497e-02 5.45233144e+01] [-2.07317402e-01 9.78156536e-01 -1.51421845e-02 -6.82251067e+00] [-4.39553537e-02 6.14886577e-03 9.99014574e-01 -3.40872800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:-6.83, Z:-3.41 [[ 9.77972964e-01 2.04341361e-01 4.25850956e-02 5.45494536e+01] [-2.04253093e-01 9.78896798e-01 -6.46004218e-03 -6.82907632e+00] [-4.30064676e-02 -2.38039091e-03 9.99071958e-01 -3.41028514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:-6.83, Z:-3.41 [[ 9.78314260e-01 2.02726313e-01 4.24646978e-02 5.45781078e+01] [-2.02497664e-01 9.79235064e-01 -9.66358997e-03 -6.83123892e+00] [-4.35419850e-02 8.55025758e-04 9.99051232e-01 -3.41317092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762640000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.61, Y:-6.84, Z:-3.42 [[ 9.78676780e-01 2.00606205e-01 4.41464759e-02 5.46059055e+01] [-2.00604011e-01 9.79661958e-01 -4.52538500e-03 -6.83824498e+00] [-4.41564433e-02 -4.42707090e-03 9.99014819e-01 -3.41595457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792640000000006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:54.64, Y:-6.84, Z:-3.42 [[ 9.79230036e-01 1.98429902e-01 4.16426609e-02 5.46350388e+01] [-1.98104859e-01 9.80109397e-01 -1.18336134e-02 -6.83578557e+00] [-4.31625060e-02 3.33821616e-03 9.99062488e-01 -3.41684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.84, Z:-3.42 [[ 9.79586975e-01 1.96623037e-01 4.18179289e-02 5.46620219e+01] [-1.96462290e-01 9.80479070e-01 -7.96004010e-03 -6.84115900e+00] [-4.25667313e-02 -4.18094463e-04 9.99093538e-01 -3.41954607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:-6.85, Z:-3.42 [[ 9.80132549e-01 1.93799435e-01 4.22133263e-02 5.46888689e+01] [-1.93633109e-01 9.81041125e-01 -8.03308594e-03 -6.84500508e+00] [-4.29698167e-02 -3.00408617e-04 9.99076326e-01 -3.42188211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.72, Y:-6.85, Z:-3.42 [[ 9.80372204e-01 1.92430280e-01 4.29060597e-02 5.47154944e+01] [-1.92257399e-01 9.81310616e-01 -8.15891468e-03 -6.84917833e+00] [-4.36741941e-02 -2.50234252e-04 9.99045796e-01 -3.42270524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:-6.85, Z:-3.42 [[ 9.80583610e-01 1.91455030e-01 4.24353037e-02 5.47421588e+01] [-1.91252071e-01 9.81501236e-01 -8.82997100e-03 -6.85269428e+00] [-4.33408454e-02 5.42685119e-04 9.99060197e-01 -3.42376351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:-6.86, Z:-3.43 [[ 9.81192286e-01 1.87876857e-01 4.43168738e-02 5.47699152e+01] [-1.87726259e-01 9.82192189e-01 -7.57328133e-03 -6.85752305e+00] [-4.49505316e-02 -8.88595717e-04 9.98988819e-01 -3.42631517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:-6.86, Z:-3.43 [[ 9.81376175e-01 1.86845542e-01 4.46043241e-02 5.47979453e+01] [-1.86653769e-01 9.82389303e-01 -8.46329948e-03 -6.86177466e+00] [-4.54001406e-02 -1.98847230e-05 9.98968882e-01 -3.42751414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:54.83, Y:-6.87, Z:-3.43 [[ 9.81432734e-01 1.86467855e-01 4.49391509e-02 5.48250933e+01] [-1.86273078e-01 9.82461062e-01 -8.52065285e-03 -6.86622776e+00] [-4.57397938e-02 -8.50632233e-06 9.98953388e-01 -3.42867564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-6.87, Z:-3.43 [[ 9.81368485e-01 1.86677040e-01 4.54706456e-02 5.48531632e+01] [-1.86478008e-01 9.82421337e-01 -8.61801844e-03 -6.86974940e+00] [-4.62801186e-02 -2.18236996e-05 9.98928501e-01 -3.43042218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:-6.87, Z:-3.43 [[ 9.81221446e-01 1.87482691e-01 4.53289685e-02 5.48802176e+01] [-1.87285912e-01 9.82267905e-01 -8.58780524e-03 -6.87464708e+00] [-4.61352558e-02 -6.29385523e-05 9.98935200e-01 -3.43184962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-6.88, Z:-3.43 [[ 9.80903933e-01 1.89104838e-01 4.54624557e-02 5.49082874e+01] [-1.88908798e-01 9.81956893e-01 -8.60965102e-03 -6.87831267e+00] [-4.62702984e-02 -1.43017317e-04 9.98928946e-01 -3.43361639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:-6.88, Z:-3.44 [[ 9.80763636e-01 1.89831050e-01 4.54627685e-02 5.49349861e+01] [-1.89635943e-01 9.81816755e-01 -8.60634389e-03 -6.88340528e+00] [-4.62698591e-02 -1.80585872e-04 9.98928960e-01 -3.43551664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:-6.89, Z:-3.44 [[ 9.80663139e-01 1.90270350e-01 4.57930404e-02 5.49612894e+01] [-1.90073048e-01 9.81731710e-01 -8.66515749e-03 -6.88908413e+00] [-4.66052024e-02 -2.06422246e-04 9.98913366e-01 -3.43699029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:-6.89, Z:-3.44 [[ 9.80597405e-01 1.90519397e-01 4.61637077e-02 5.49885916e+01] [-1.90319473e-01 9.81683405e-01 -8.72870532e-03 -6.89457449e+00] [-4.69811335e-02 -2.26506730e-04 9.98895751e-01 -3.43859190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.02, Y:-6.90, Z:-3.44 [[ 9.80588926e-01 1.90378620e-01 4.69184247e-02 5.50165549e+01] [-1.90172109e-01 9.81710716e-01 -8.86787857e-03 -6.89976535e+00] [-4.77485748e-02 -2.26832257e-04 9.98859361e-01 -3.43934315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:-6.90, Z:-3.44 [[ 9.80591566e-01 1.90197137e-01 4.75944250e-02 5.50429204e+01] [-1.89984589e-01 9.81745893e-01 -8.99206601e-03 -6.90435840e+00] [-4.84358965e-02 -2.24663196e-04 9.98826268e-01 -3.44091444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:-6.91, Z:-3.44 [[ 9.80568068e-01 1.90054827e-01 4.86356552e-02 5.50707454e+01] [-1.89832924e-01 9.81773452e-01 -9.18422118e-03 -6.90970159e+00] [-4.94947007e-02 -2.26894616e-04 9.98774360e-01 -3.44229032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:-6.92, Z:-3.44 [[ 9.80315141e-01 1.91085428e-01 4.96848525e-02 5.50973061e+01] [-1.90855334e-01 9.81573368e-01 -9.37898066e-03 -6.91583848e+00] [-5.05615145e-02 -2.88262368e-04 9.98720907e-01 -3.44302925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:-6.92, Z:-3.45 [[ 9.80093847e-01 1.92291719e-01 4.93958058e-02 5.51237803e+01] [-1.92066162e-01 9.81337744e-01 -9.31776821e-03 -6.92095111e+00] [-5.02656983e-02 -3.54975525e-04 9.98735818e-01 -3.44509492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:-6.93, Z:-3.45 [[ 9.79786674e-01 1.93893930e-01 4.92261835e-02 5.51513011e+01] [-1.93672154e-01 9.81022401e-01 -9.28151689e-03 -6.92628990e+00] [-5.00916185e-02 -4.39834402e-04 9.98744530e-01 -3.44738782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:-6.93, Z:-3.45 [[ 9.78932898e-01 1.98450594e-01 4.80389823e-02 5.51777466e+01] [-1.98245013e-01 9.80110671e-01 -9.05473232e-03 -6.93101322e+00] [-4.88804362e-02 -6.59513307e-04 9.98804419e-01 -3.44999285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:-6.94, Z:-3.45 [[ 9.78441691e-01 2.00937177e-01 4.77085855e-02 5.52048594e+01] [-2.00737688e-01 9.79603815e-01 -8.98586114e-03 -6.93557443e+00] [-4.85411059e-02 -7.84769967e-04 9.98820877e-01 -3.45210626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:-6.94, Z:-3.45 [[ 9.77397838e-01 2.05920798e-01 4.78549040e-02 5.52335272e+01] [-2.06041676e-01 9.78540159e-01 -2.44659663e-03 -6.94196170e+00] [-4.73317504e-02 -7.46880637e-03 9.98851301e-01 -3.45250934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:-6.94, Z:-3.46 [[ 9.76906962e-01 2.08636454e-01 4.60827347e-02 5.52624666e+01] [-2.08144253e-01 9.77978680e-01 -1.52862880e-02 -6.93775090e+00] [-4.82572090e-02 5.34142474e-03 9.98820660e-01 -3.45661607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:-6.94, Z:-3.46 [[ 9.76574188e-01 2.10049261e-01 4.67136354e-02 5.52888890e+01] [-2.09869071e-01 9.77690036e-01 -8.78441249e-03 -6.94427877e+00] [-4.75166152e-02 -1.22511678e-03 9.98869696e-01 -3.45984871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:-6.95, Z:-3.46 [[ 9.76610619e-01 2.09879689e-01 4.67141906e-02 5.53168473e+01] [-2.09699446e-01 9.77726459e-01 -8.78145937e-03 -6.94933095e+00] [-4.75167501e-02 -1.21987343e-03 9.98869696e-01 -3.46155558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:-6.95, Z:-3.46 [[ 9.76758310e-01 2.08986081e-01 4.76237580e-02 5.53446079e+01] [-2.08834155e-01 9.77916697e-01 -8.19931153e-03 -6.95107639e+00] [-4.82856101e-02 -1.93672157e-03 9.98831692e-01 -3.46313144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:-6.95, Z:-3.47 [[ 9.77112429e-01 2.07487065e-01 4.69086306e-02 5.53731963e+01] [-2.07270209e-01 9.78237660e-01 -9.49427681e-03 -6.95407152e+00] [-4.78577286e-02 -4.45785806e-04 9.98854063e-01 -3.46528267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:-6.96, Z:-3.47 [[ 9.77844336e-01 2.04262075e-01 4.57980224e-02 5.53993570e+01] [-2.04083542e-01 9.78915782e-01 -8.59061723e-03 -6.95808968e+00] [-4.65871442e-02 -9.46336244e-04 9.98913781e-01 -3.46702239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:-6.96, Z:-3.47 [[ 9.78161140e-01 2.03308519e-01 4.32021942e-02 5.54273712e+01] [-2.02835243e-01 9.79096200e-01 -1.51160377e-02 -6.95839546e+00] [-4.53723234e-02 6.02299315e-03 9.98951989e-01 -3.46666357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:-6.97, Z:-3.47 [[ 9.78497747e-01 2.00582823e-01 4.80488292e-02 5.54545139e+01] [-2.00712598e-01 9.79647792e-01 -2.15811535e-03 -6.96947344e+00] [-4.75038103e-02 -7.53229432e-03 9.98842657e-01 -3.47086512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:-6.97, Z:-3.47 [[ 9.78709049e-01 1.99911604e-01 4.65182475e-02 5.54820156e+01] [-1.99723344e-01 9.79813635e-01 -8.70778821e-03 -6.96943011e+00] [-4.73200011e-02 -7.68388834e-04 9.98879486e-01 -3.47159631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:-6.97, Z:-3.47 [[ 9.78868304e-01 1.99137914e-01 4.64858616e-02 5.55087816e+01] [-1.98949370e-01 9.79971197e-01 -8.69484691e-03 -6.97300367e+00] [-4.72862791e-02 -7.37222833e-04 9.98881106e-01 -3.47305375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:-6.98, Z:-3.48 [[ 9.79060190e-01 1.98188559e-01 4.65020342e-02 5.55361731e+01] [-1.97999008e-01 9.80163665e-01 -8.69378173e-03 -6.97646180e+00] [-4.73026124e-02 -6.95621048e-04 9.98880363e-01 -3.47504623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-6.98, Z:-3.48 [[ 9.79598542e-01 1.95596046e-01 4.61398180e-02 5.55642123e+01] [-1.95406720e-01 9.80684385e-01 -8.62268875e-03 -6.97983595e+00] [-4.69351629e-02 -5.69257183e-04 9.98897776e-01 -3.47740897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-6.98, Z:-3.48 [[ 9.79809663e-01 1.94436847e-01 4.65546662e-02 5.55909479e+01] [-1.94242956e-01 9.80914900e-01 -8.69677753e-03 -6.98477290e+00] [-4.73571397e-02 -5.21729294e-04 9.98877885e-01 -3.47925845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-6.99, Z:-3.48 [[ 9.80005504e-01 1.93380520e-01 4.68314734e-02 5.56186061e+01] [-1.93183317e-01 9.81123716e-01 -8.74412627e-03 -6.98993368e+00] [-4.76384129e-02 -4.77767521e-04 9.98864532e-01 -3.48034749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:-6.99, Z:-3.48 [[ 9.80296723e-01 1.91757762e-01 4.74056530e-02 5.56453783e+01] [-1.91553935e-01 9.81442202e-01 -8.84842342e-03 -6.99283148e+00] [-4.82226623e-02 -4.06658902e-04 9.98836528e-01 -3.48180528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:-7.00, Z:-3.48 [[ 9.80419476e-01 1.91136621e-01 4.73755548e-02 5.56734412e+01] [-1.90932670e-01 9.81563368e-01 -8.83572557e-03 -6.99731075e+00] [-4.81909399e-02 -3.82823737e-04 9.98838068e-01 -3.48333728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:-7.00, Z:-3.48 [[ 9.80617473e-01 1.90052888e-01 4.76368603e-02 5.56997958e+01] [-1.89845577e-01 9.81773796e-01 -8.88084999e-03 -7.00223152e+00] [-4.84564524e-02 -3.34930541e-04 9.98825240e-01 -3.48477252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:55.73, Y:-7.01, Z:-3.49 [[ 9.80662259e-01 1.89129235e-01 5.03156560e-02 5.57272859e+01] [-1.89076658e-01 9.81944927e-01 -5.84610655e-03 -7.00884813e+00] [-5.05128729e-02 -3.78046003e-03 9.98716255e-01 -3.48845400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:-7.01, Z:-3.49 [[ 9.80752193e-01 1.89274417e-01 4.79617653e-02 5.57552600e+01] [-1.88888123e-01 9.81919004e-01 -1.25038370e-02 -7.00852313e+00] [-4.94612253e-02 3.20375780e-03 9.98770906e-01 -3.48688645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:-7.02, Z:-3.49 [[ 9.80798768e-01 1.88108384e-01 5.14685623e-02 5.57823921e+01] [-1.88219198e-01 9.82123254e-01 -2.72905109e-03 -7.01832074e+00] [-5.10618293e-02 -7.01072157e-03 9.98670886e-01 -3.49069964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:-7.02, Z:-3.49 [[ 9.80794736e-01 1.88444134e-01 5.03040126e-02 5.58110925e+01] [-1.88212304e-01 9.82083866e-01 -9.34927784e-03 -7.01962616e+00] [-5.11645758e-02 -2.98111643e-04 9.98690191e-01 -3.49150726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:-7.02, Z:-3.49 [[ 9.81106777e-01 1.87738478e-01 4.67306799e-02 5.58396897e+01] [-1.87213656e-01 9.82198430e-01 -1.54042618e-02 -7.02172817e+00] [-4.87907731e-02 6.36460419e-03 9.98788743e-01 -3.49205585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.86, Y:-7.03, Z:-3.49 [[ 9.81196256e-01 1.87010279e-01 4.77604754e-02 5.58649833e+01] [-1.86799776e-01 9.82357933e-01 -8.87324415e-03 -7.03017976e+00] [-4.85772697e-02 -2.15252177e-04 9.98819404e-01 -3.49482311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:-7.03, Z:-3.50 [[ 9.81238759e-01 1.86860600e-01 4.74722395e-02 5.58927413e+01] [-1.86652657e-01 9.82386417e-01 -8.81553871e-03 -7.03462931e+00] [-4.82833601e-02 -2.10671383e-04 9.98833656e-01 -3.49653670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:-7.04, Z:-3.50 [[ 9.81192142e-01 1.87364580e-01 4.64380683e-02 5.59207134e+01] [-1.87166326e-01 9.82290415e-01 -8.62014500e-03 -7.03845261e+00] [-4.72307793e-02 -2.33624078e-04 9.98883977e-01 -3.49867865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:-7.04, Z:-3.50 [[ 9.81132396e-01 1.87644856e-01 4.65685500e-02 5.59473763e+01] [-1.87445963e-01 9.82236909e-01 -8.64096155e-03 -7.04274925e+00] [-4.73627806e-02 -2.51159383e-04 9.98877722e-01 -3.50042971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:-7.05, Z:-3.50 [[ 9.80941320e-01 1.88565012e-01 4.68760378e-02 5.59754370e+01] [-1.88364739e-01 9.82060663e-01 -8.69366815e-03 -7.04616607e+00] [-4.76744344e-02 -3.01814341e-04 9.98862882e-01 -3.50219185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:-7.05, Z:-3.50 [[ 9.80869418e-01 1.88854508e-01 4.72139689e-02 5.60019380e+01] [-1.88651805e-01 9.82005026e-01 -8.75354143e-03 -7.05041850e+00] [-4.80175005e-02 -3.20919370e-04 9.98846443e-01 -3.50356846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:-7.06, Z:-3.51 [[ 9.80788716e-01 1.89180713e-01 4.75831147e-02 5.60280962e+01] [-1.88975521e-01 9.81942228e-01 -8.81555941e-03 -7.05507328e+00] [-4.83916034e-02 -3.45842702e-04 9.98828380e-01 -3.50523694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:-7.06, Z:-3.51 [[ 9.80571427e-01 1.90210658e-01 4.79539610e-02 5.60555002e+01] [-1.90003827e-01 9.81743215e-01 -8.87723653e-03 -7.05895671e+00] [-4.87670208e-02 -4.06671639e-04 9.98810098e-01 -3.50630120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:56.08, Y:-7.06, Z:-3.51 [[ 9.80398860e-01 1.91002911e-01 4.83317997e-02 5.60833870e+01] [-1.90793943e-01 9.81589366e-01 -8.94364570e-03 -7.06286746e+00] [-4.91502430e-02 -4.53074593e-04 9.98791294e-01 -3.50952902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:-7.07, Z:-3.51 [[ 9.80436757e-01 1.90841181e-01 4.82017495e-02 5.61098299e+01] [-1.91158765e-01 9.81557043e-01 2.02428813e-03 -7.07129674e+00] [-4.69264492e-02 -1.11988734e-02 9.98835569e-01 -3.50602790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:-7.06, Z:-3.51 [[ 9.79555420e-01 1.95993335e-01 4.53628846e-02 5.61404731e+01] [-1.95304330e-01 9.80554806e-01 -1.91961334e-02 -7.06259794e+00] [-4.82431087e-02 9.94410880e-03 9.98786122e-01 -3.50923796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:-7.07, Z:-3.51 [[ 9.79068590e-01 1.97846670e-01 4.77639104e-02 5.61671577e+01] [-1.97651385e-01 9.80232653e-01 -8.82472410e-03 -7.07129981e+00] [-4.85656869e-02 -8.00592848e-04 9.98819670e-01 -3.51265636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:-7.07, Z:-3.51 [[ 9.77862087e-01 2.03663251e-01 4.80314329e-02 5.61952455e+01] [-2.03473300e-01 9.79040376e-01 -8.86336214e-03 -7.07006607e+00] [-4.88298533e-02 -1.10596836e-03 9.98806499e-01 -3.51413464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:56.22, Y:-7.07, Z:-3.52 [[ 9.77252107e-01 2.06466185e-01 4.84771471e-02 5.62234632e+01] [-2.06276284e-01 9.78452925e-01 -8.94254919e-03 -7.07212333e+00] [-4.92789404e-02 -1.26056073e-03 9.98784260e-01 -3.51786884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:-7.07, Z:-3.52 [[ 9.76892731e-01 2.08406291e-01 4.74068489e-02 5.62517373e+01] [-2.08227403e-01 9.78041425e-01 -8.73606273e-03 -7.07274365e+00] [-4.81865125e-02 -1.33720887e-03 9.98837460e-01 -3.51838044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:-7.07, Z:-3.52 [[ 9.76587918e-01 2.09966233e-01 4.67997738e-02 5.62802457e+01] [-2.09794124e-01 9.77707629e-01 -8.61500723e-03 -7.07371705e+00] [-4.75653565e-02 -1.40500559e-03 9.98867140e-01 -3.52079303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:-7.07, Z:-3.52 [[ 9.76453660e-01 2.10820606e-01 4.57484750e-02 5.63079241e+01] [-2.10657564e-01 9.77523731e-01 -8.41110656e-03 -7.07061849e+00] [-4.64934546e-02 -1.42420654e-03 9.98917579e-01 -3.52325313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:-7.07, Z:-3.52 [[ 9.76673597e-01 2.09822666e-01 4.56413687e-02 5.63348677e+01] [-2.09659483e-01 9.77738488e-01 -8.38744105e-03 -7.07210052e+00] [-4.63851980e-02 -1.37735357e-03 9.98922678e-01 -3.52497670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:-7.07, Z:-3.53 [[ 9.77738921e-01 2.04746307e-01 4.58862852e-02 5.63626580e+01] [-2.04575892e-01 9.78814405e-01 -8.43003622e-03 -7.07216308e+00] [-4.66401757e-02 -1.14485320e-03 9.98911099e-01 -3.52765410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-7.07, Z:-3.53 [[ 9.78542708e-01 2.00798270e-01 4.61976463e-02 5.63893485e+01] [-2.00621656e-01 9.79632128e-01 -8.47614342e-03 -7.07459312e+00] [-4.69586935e-02 -9.73979968e-04 9.98896357e-01 -3.52930345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:-7.08, Z:-3.53 [[ 9.79408721e-01 1.96246832e-01 4.73892248e-02 5.64165962e+01] [-1.96098450e-01 9.80553143e-01 -7.80590908e-03 -7.07805671e+00] [-4.79995382e-02 -1.64777810e-03 9.98845999e-01 -3.53085938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:-7.08, Z:-3.53 [[ 9.81387556e-01 1.85993471e-01 4.78005720e-02 5.64440724e+01] [-1.85743083e-01 9.82550792e-01 -9.66686998e-03 -7.07834907e+00] [-4.87644646e-02 6.08320290e-04 9.98810121e-01 -3.53168524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:-7.08, Z:-3.53 [[ 9.82456181e-01 1.80087623e-01 4.84592554e-02 5.64730441e+01] [-1.79873132e-01 9.83650569e-01 -8.78722816e-03 -7.08249975e+00] [-4.92494451e-02 -8.34514155e-05 9.98786506e-01 -3.53354433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:-7.09, Z:-3.53 [[ 9.83402957e-01 1.74726872e-01 4.88788652e-02 5.64993954e+01] [-1.74497908e-01 9.84616904e-01 -8.94604529e-03 -7.08646765e+00] [-4.96900714e-02 2.68307662e-04 9.98764649e-01 -3.53471946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862640000000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.09, Z:-3.54 [[ 9.84947749e-01 1.65603848e-01 4.95307719e-02 5.65261763e+01] [-1.65357556e-01 9.86192086e-01 -9.05803779e-03 -7.09229048e+00] [-5.03469012e-02 7.31406530e-04 9.98731523e-01 -3.53790988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:-7.10, Z:-3.54 [[ 9.85597263e-01 1.61936682e-01 4.87293086e-02 5.65527136e+01] [-1.61693990e-01 9.86800740e-01 -8.90805735e-03 -7.09729550e+00] [-4.95286591e-02 9.00520608e-04 9.98772297e-01 -3.53804263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:-7.10, Z:-3.54 [[ 9.86090554e-01 1.59063947e-01 4.82087098e-02 5.65798993e+01] [-1.58823192e-01 9.87267745e-01 -8.80868642e-03 -7.10277501e+00] [-4.89960487e-02 1.02950131e-03 9.98798442e-01 -3.53965908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.61, Y:-7.11, Z:-3.54 [[ 9.86735454e-01 1.55346793e-01 4.71223693e-02 5.66069425e+01] [-1.55112696e-01 9.87859288e-01 -8.60687097e-03 -7.10962641e+00] [-4.78873200e-02 1.18342702e-03 9.98852043e-01 -3.54246590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:-7.12, Z:-3.54 [[ 9.86920792e-01 1.54078207e-01 4.74052424e-02 5.66329607e+01] [-1.53966808e-01 9.88057715e-01 -6.01447301e-03 -7.11722887e+00] [-4.77658147e-02 -1.36302537e-03 9.98857632e-01 -3.54379196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:-7.12, Z:-3.54 [[ 9.87146369e-01 1.53059709e-01 4.59866542e-02 5.66619585e+01] [-1.52709974e-01 9.88209323e-01 -1.10452571e-02 -7.12129792e+00] [-4.71350242e-02 3.88066462e-03 9.98880989e-01 -3.54453107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:-7.13, Z:-3.55 [[ 9.87357878e-01 1.51265747e-01 4.73613191e-02 5.66876098e+01] [-1.51025371e-01 9.88492181e-01 -8.63401247e-03 -7.13260607e+00] [-4.81223239e-02 1.37209946e-03 9.98840507e-01 -3.54604762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:-7.14, Z:-3.55 [[ 9.87367501e-01 1.51176088e-01 4.74469000e-02 5.67146673e+01] [-1.50934941e-01 9.88505893e-01 -8.64540714e-03 -7.14100723e+00] [-4.82085190e-02 1.37479898e-03 9.98836347e-01 -3.54778606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:-7.15, Z:-3.55 [[ 9.87069359e-01 1.53173281e-01 4.72443348e-02 5.67396568e+01] [-1.52936635e-01 9.88198531e-01 -8.60516647e-03 -7.15182501e+00] [-4.80048639e-02 1.26850656e-03 9.98846296e-01 -3.54908507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:56.77, Y:-7.16, Z:-3.55 [[ 9.86791538e-01 1.54925071e-01 4.73358514e-02 5.67671669e+01] [-1.54689720e-01 9.87925517e-01 -8.61765427e-03 -7.15875064e+00] [-4.80993862e-02 1.18145873e-03 9.98841856e-01 -3.55173966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:-7.17, Z:-3.55 [[ 9.86430555e-01 1.57486356e-01 4.63983704e-02 5.67935217e+01] [-1.57263219e-01 9.87520623e-01 -8.44382098e-03 -7.16575232e+00] [-4.71491343e-02 1.03248592e-03 9.98887328e-01 -3.55223562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-7.17, Z:-3.55 [[ 9.85991738e-01 1.60276343e-01 4.61712661e-02 5.68200874e+01] [-1.60058633e-01 9.87071781e-01 -8.39842779e-03 -7.17414415e+00] [-4.69204231e-02 8.90670689e-04 9.98898233e-01 -3.55463168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:-7.19, Z:-3.56 [[ 9.85063487e-01 1.66022332e-01 4.56783502e-02 5.68461559e+01] [-1.65815565e-01 9.86121806e-01 -8.30552648e-03 -7.18530877e+00] [-4.64233201e-02 6.07289419e-04 9.98921672e-01 -3.55578928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:-7.20, Z:-3.56 [[ 9.84509133e-01 1.68685417e-01 4.78225524e-02 5.68717714e+01] [-1.68749610e-01 9.85655196e-01 -2.72100567e-03 -7.19530442e+00] [-4.75955413e-02 -5.39118215e-03 9.98852141e-01 -3.55879995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:-7.20, Z:-3.56 [[ 9.84153219e-01 1.71839074e-01 4.37467080e-02 5.69006178e+01] [-1.71388102e-01 9.85105718e-01 -1.38868192e-02 -7.19620642e+00] [-4.54814304e-02 6.16909254e-03 9.98946136e-01 -3.55810188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:-7.21, Z:-3.56 [[ 9.83531617e-01 1.74963160e-01 4.53150272e-02 5.69255804e+01] [-1.74769552e-01 9.84574965e-01 -8.23053021e-03 -7.21109443e+00] [-4.60560809e-02 1.75299680e-04 9.98938840e-01 -3.56050872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:-7.22, Z:-3.56 [[ 9.83345669e-01 1.76055331e-01 4.51200227e-02 5.69527149e+01] [-1.75864718e-01 9.84380265e-01 -8.19114769e-03 -7.21881656e+00] [-4.58573551e-02 1.19709541e-04 9.98947991e-01 -3.56166377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:-7.23, Z:-3.56 [[ 9.83097381e-01 1.77406075e-01 4.52396364e-02 5.69788217e+01] [-1.77216031e-01 9.84137735e-01 -8.20953971e-03 -7.22854685e+00] [-4.59784555e-02 5.35881755e-05 9.98942430e-01 -3.56245418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:-7.24, Z:-3.56 [[ 9.82946033e-01 1.78093624e-01 4.58231166e-02 5.70046204e+01] [-1.77899588e-01 9.84013547e-01 -8.31117416e-03 -7.23683545e+00] [-4.65707347e-02 1.75220838e-05 9.98914995e-01 -3.56401042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:-7.25, Z:-3.56 [[ 9.82778233e-01 1.78913499e-01 4.62266649e-02 5.70317694e+01] [-1.78717127e-01 9.83864807e-01 -8.38029809e-03 -7.24523003e+00] [-4.69801372e-02 -2.55221768e-05 9.98895823e-01 -3.56481211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:57.06, Y:-7.25, Z:-3.57 [[ 9.82364626e-01 1.81036291e-01 4.67504335e-02 5.70573462e+01] [-1.80838001e-01 9.83476407e-01 -8.47191945e-03 -7.25495771e+00] [-4.75116732e-02 -1.31740956e-04 9.98870674e-01 -3.56889646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:57.08, Y:-7.26, Z:-3.57 [[ 9.82113152e-01 1.82549999e-01 4.61438363e-02 5.70847920e+01] [-1.82358684e-01 9.83196550e-01 -8.35794329e-03 -7.26222548e+00] [-4.68942032e-02 -2.06283212e-04 9.98899840e-01 -3.57030978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:-7.27, Z:-3.57 [[ 9.81762665e-01 1.84497780e-01 4.58545483e-02 5.71109826e+01] [-1.84311125e-01 9.82832884e-01 -8.30243855e-03 -7.26945642e+00] [-4.65991394e-02 -3.00479185e-04 9.98913625e-01 -3.56978121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-7.28, Z:-3.57 [[ 9.80986361e-01 1.87694628e-01 4.93607829e-02 5.71369534e+01] [-1.87836978e-01 9.82198605e-01 -1.78052786e-03 -7.28253814e+00] [-4.88162876e-02 -7.52510672e-03 9.98779427e-01 -3.57260075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-7.28, Z:-3.57 [[ 9.80681351e-01 1.90331081e-01 4.51460696e-02 5.71661757e+01] [-1.89824281e-01 9.81698880e-01 -1.52987220e-02 -7.28095178e+00] [-4.72316682e-02 6.43335119e-03 9.98863245e-01 -3.57148963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.19, Y:-7.29, Z:-3.57 [[ 9.80383808e-01 1.91579945e-01 4.63110538e-02 5.71924488e+01] [-1.91397936e-01 9.81476794e-01 -8.37453476e-03 -7.29025502e+00] [-4.70576175e-02 -6.53581821e-04 9.98891963e-01 -3.57369117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:-7.30, Z:-3.57 [[ 9.79884232e-01 1.94076877e-01 4.64871762e-02 5.72175464e+01] [-1.94268786e-01 9.80948256e-01 -3.96965179e-04 -7.30043234e+00] [-4.56785561e-02 -8.64202735e-03 9.98918808e-01 -3.57344612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:-7.30, Z:-3.58 [[ 9.79675785e-01 1.95882797e-01 4.31889514e-02 5.72473748e+01] [-1.95368975e-01 9.80601651e-01 -1.58545180e-02 -7.29734464e+00] [-4.54567843e-02 7.09450625e-03 9.98941114e-01 -3.57667517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:-7.31, Z:-3.58 [[ 9.79736911e-01 1.95246512e-01 4.46585403e-02 5.72719741e+01] [-1.95367071e-01 9.80728733e-01 -1.69135791e-03 -7.31056209e+00] [-4.41281453e-02 -7.06772243e-03 9.99000878e-01 -3.57755254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:-7.31, Z:-3.58 [[ 9.79792529e-01 1.95259417e-01 4.33631294e-02 5.73008526e+01] [-1.94819714e-01 9.80736482e-01 -1.41856314e-02 -7.30934170e+00] [-4.52976811e-02 5.45098324e-03 9.98958661e-01 -3.58049189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:-7.32, Z:-3.58 [[ 9.79970854e-01 1.94087380e-01 4.45781795e-02 5.73278306e+01] [-1.93922518e-01 9.80983942e-01 -8.03504465e-03 -7.31906885e+00] [-4.52899791e-02 -7.70603262e-04 9.98973585e-01 -3.58249930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:-7.33, Z:-3.59 [[ 9.80072387e-01 1.92379382e-01 4.94802012e-02 5.73535231e+01] [-1.92671726e-01 9.81262581e-01 1.16307188e-03 -7.33020690e+00] [-4.83293190e-02 -1.06733304e-02 9.98774427e-01 -3.58619085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.38, Y:-7.32, Z:-3.59 [[ 9.80715159e-01 1.90656425e-01 4.29872658e-02 5.73841399e+01] [-1.90050644e-01 9.81612880e-01 -1.78018885e-02 -7.32457155e+00] [-4.55908982e-02 9.28882430e-03 9.98917007e-01 -3.58548311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:-7.34, Z:-3.59 [[ 9.80904916e-01 1.89205125e-01 4.50218451e-02 5.74110045e+01] [-1.89032201e-01 9.81937426e-01 -8.10668449e-03 -7.33567347e+00] [-4.57424609e-02 -5.58691793e-04 9.98953110e-01 -3.58623193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:-7.34, Z:-3.59 [[ 9.81082574e-01 1.88173081e-01 4.54738940e-02 5.74382161e+01] [-1.87995718e-01 9.82135745e-01 -8.18460734e-03 -7.34160005e+00] [-4.62016596e-02 -5.19121723e-04 9.98931998e-01 -3.58703979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:-7.35, Z:-3.59 [[ 9.81210444e-01 1.86458073e-01 4.95928587e-02 5.74635721e+01] [-1.86658003e-01 9.82424764e-01 -6.09882284e-04 -7.35211778e+00] [-4.88349700e-02 -8.65848113e-03 9.98769331e-01 -3.59017844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:-7.35, Z:-3.59 [[ 9.81359162e-01 1.87032035e-01 4.41951802e-02 5.74933271e+01] [-1.86479350e-01 9.82322814e-01 -1.63505629e-02 -7.34805177e+00] [-4.64720129e-02 7.80428617e-03 9.98889106e-01 -3.58845453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:-7.36, Z:-3.59 [[ 9.81421795e-01 1.86360961e-01 4.56163658e-02 5.75198342e+01] [-1.86181008e-01 9.82481243e-01 -8.19989848e-03 -7.35823904e+00] [-4.63453648e-02 -4.45341907e-04 9.98925377e-01 -3.59147759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:-7.36, Z:-3.59 [[ 9.81432868e-01 1.86302489e-01 4.56169802e-02 5.75478458e+01] [-1.86122632e-01 9.82492333e-01 -8.19647924e-03 -7.36314370e+00] [-4.63453577e-02 -4.46058283e-04 9.98925377e-01 -3.59317847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:-7.37, Z:-3.59 [[ 9.81364723e-01 1.86901324e-01 4.46225779e-02 5.75738752e+01] [-1.86729951e-01 9.82378582e-01 -8.01548437e-03 -7.36999103e+00] [-4.53343694e-02 -4.66258171e-04 9.98971760e-01 -3.59477111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:-7.37, Z:-3.60 [[ 9.81246539e-01 1.87765469e-01 4.35816176e-02 5.76018432e+01] [-1.87603020e-01 9.82213765e-01 -7.82472654e-03 -7.37463508e+00] [-4.42756782e-02 -4.98057263e-04 9.99019227e-01 -3.59651905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:-7.38, Z:-3.60 [[ 9.80782811e-01 1.90442499e-01 4.23878672e-02 5.76280815e+01] [-1.90291451e-01 9.81698166e-01 -7.60754636e-03 -7.37855892e+00] [-4.30608916e-02 -6.04698045e-04 9.99072267e-01 -3.59781288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:-7.39, Z:-3.60 [[ 9.80373127e-01 1.91201504e-01 4.80678305e-02 5.76545629e+01] [-1.91642426e-01 9.81453583e-01 4.69510206e-03 -7.39051342e+00] [-4.62786340e-02 -1.38147876e-02 9.98833039e-01 -3.60247837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:-7.38, Z:-3.60 [[ 9.79977727e-01 1.95003032e-01 4.02178151e-02 5.76844477e+01] [-1.94308447e-01 9.80725222e-01 -2.05491292e-02 -7.38019127e+00] [-4.34497681e-02 1.23230277e-02 9.98979610e-01 -3.59893313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:-7.39, Z:-3.60 [[ 9.79598753e-01 1.96334732e-01 4.28830621e-02 5.77103926e+01] [-1.96186447e-01 9.80536528e-01 -7.68081777e-03 -7.39103264e+00] [-4.35564201e-02 -8.88956084e-04 9.99050573e-01 -3.60182720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:-7.39, Z:-3.61 [[ 9.78683333e-01 2.00632281e-01 4.38818952e-02 5.77416497e+01] [-2.00197362e-01 9.79653607e-01 -1.41360250e-02 -7.39150601e+00] [-4.58251998e-02 5.04965237e-03 9.98936711e-01 -3.60553599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:57.76, Y:-7.40, Z:-3.61 [[ 9.78685483e-01 2.00492068e-01 4.44708398e-02 5.77648658e+01] [-2.00607006e-01 9.79669937e-01 -1.90882798e-03 -7.39977342e+00] [-4.39494497e-02 -7.05301978e-03 9.99008859e-01 -3.60719039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:-7.40, Z:-3.61 [[ 9.78227112e-01 2.02840566e-01 4.39024243e-02 5.77927047e+01] [-2.02692194e-01 9.79211020e-01 -7.85190592e-03 -7.39751410e+00] [-4.45824227e-02 -1.21773146e-03 9.99004967e-01 -3.60573403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:-7.40, Z:-3.61 [[ 9.78127210e-01 2.03245222e-01 4.42554023e-02 5.78196843e+01] [-2.03095054e-01 9.79127069e-01 -7.91090268e-03 -7.39997679e+00] [-4.49395155e-02 -1.25018414e-03 9.98988927e-01 -3.60741141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332640000000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.85, Y:-7.40, Z:-3.61 [[ 9.78153588e-01 2.03189781e-01 4.39257513e-02 5.78469296e+01] [-2.03041960e-01 9.79138586e-01 -7.84809508e-03 -7.40285606e+00] [-4.46040507e-02 -1.24212828e-03 9.99003972e-01 -3.61120447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-7.40, Z:-3.61 [[ 9.78265348e-01 2.02642618e-01 4.39645128e-02 5.78755028e+01] [-2.02544818e-01 9.79249974e-01 -6.71452898e-03 -7.40471010e+00] [-4.44128978e-02 -2.33619324e-03 9.99010529e-01 -3.61225097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:-7.41, Z:-3.61 [[ 9.78438747e-01 2.02028602e-01 4.29192466e-02 5.79026187e+01] [-2.01834186e-01 9.79379622e-01 -8.86102213e-03 -7.40549304e+00] [-4.38244154e-02 7.39621277e-06 9.99039249e-01 -3.61348807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:-7.41, Z:-3.62 [[ 9.78590156e-01 2.01347670e-01 4.26664001e-02 5.79306343e+01] [-2.01206866e-01 9.79519183e-01 -7.61363290e-03 -7.40900205e+00] [-4.33255446e-02 -1.13414646e-03 9.99060364e-01 -3.61508814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:-7.41, Z:-3.62 [[ 9.78656858e-01 2.00589344e-01 4.46617161e-02 5.79574075e+01] [-2.00657202e-01 9.79656909e-01 -3.00459580e-03 -7.41456952e+00] [-4.43558487e-02 -6.02122670e-03 9.98997649e-01 -3.61823788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:57.99, Y:-7.41, Z:-3.62 [[ 9.78915998e-01 1.99964869e-01 4.16835806e-02 5.79879912e+01] [-1.99623498e-01 9.79796230e-01 -1.22395739e-02 -7.40870745e+00] [-4.32888999e-02 3.66049249e-03 9.99055890e-01 -3.61973651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:-7.41, Z:-3.62 [[ 9.78995538e-01 1.99271891e-01 4.31097516e-02 5.80146305e+01] [-1.99126676e-01 9.79943661e-01 -7.68039076e-03 -7.41248477e+00] [-4.37756138e-02 -1.06523324e-03 9.99040820e-01 -3.62027410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-7.41, Z:-3.62 [[ 9.79258371e-01 1.97961116e-01 4.31791635e-02 5.80423696e+01] [-1.97814380e-01 9.80209350e-01 -7.68772412e-03 -7.41451908e+00] [-4.38464902e-02 -1.01319124e-03 9.99037766e-01 -3.62250457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57264000000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:58.07, Y:-7.42, Z:-3.63 [[ 9.79882211e-01 1.94507838e-01 4.46939902e-02 5.80708151e+01] [-1.94347515e-01 9.80900552e-01 -7.94676745e-03 -7.41518466e+00] [-4.53860682e-02 -8.99269851e-04 9.98969117e-01 -3.62674936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:-7.42, Z:-3.63 [[ 9.80234759e-01 1.92467658e-01 4.57822903e-02 5.80990480e+01] [-1.92297368e-01 9.81302968e-01 -8.13677788e-03 -7.41652372e+00] [-4.64923640e-02 -8.27861409e-04 9.98918302e-01 -3.62543893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:-7.42, Z:-3.63 [[ 9.80732289e-01 1.89926231e-01 4.57406211e-02 5.81275429e+01] [-1.89753644e-01 9.81798107e-01 -8.12599278e-03 -7.41831754e+00] [-4.64513944e-02 -7.10026039e-04 9.98920299e-01 -3.62742502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:-7.42, Z:-3.63 [[ 9.81865101e-01 1.83946835e-01 4.58746696e-02 5.81552686e+01] [-1.83766862e-01 9.82936100e-01 -8.14644673e-03 -7.41996465e+00] [-4.65903819e-02 -4.31532344e-04 9.98913985e-01 -3.62956549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:-7.42, Z:-3.63 [[ 9.82400733e-01 1.81099049e-01 4.57376721e-02 5.81847584e+01] [-1.80718766e-01 9.83457254e-01 -1.23514242e-02 -7.42032175e+00] [-4.72178766e-02 3.86839246e-03 9.98877123e-01 -3.63265442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:-7.42, Z:-3.63 [[ 9.82889177e-01 1.78401451e-01 4.58452513e-02 5.82135298e+01] [-1.78125395e-01 9.83956260e-01 -1.00708674e-02 -7.42370883e+00] [-4.69063794e-02 1.73234307e-03 9.98897788e-01 -3.63477350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.24, Y:-7.43, Z:-3.64 [[ 9.83542576e-01 1.74362478e-01 4.73468890e-02 5.82402077e+01] [-1.74226672e-01 9.84680607e-01 -7.01209073e-03 -7.42799986e+00] [-4.78442089e-02 -1.35240113e-03 9.98853895e-01 -3.63856456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:58.26, Y:-7.44, Z:-3.64 [[ 9.83736812e-01 1.72418861e-01 5.03350919e-02 5.82643471e+01] [-1.72769764e-01 9.84958611e-01 2.67278628e-03 -7.43718197e+00] [-4.91171434e-02 -1.13257002e-02 9.98728809e-01 -3.64140441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:-7.43, Z:-3.64 [[ 9.84372612e-01 1.70500800e-01 4.40458538e-02 5.82952504e+01] [-1.70002235e-01 9.85331705e-01 -1.48549834e-02 -7.42808200e+00] [-4.59325628e-02 7.13494529e-03 9.98919062e-01 -3.63701754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-7.44, Z:-3.64 [[ 9.84698652e-01 1.68282543e-01 4.52719691e-02 5.83222878e+01] [-1.68091739e-01 9.85738761e-01 -8.01637473e-03 -7.43576488e+00] [-4.59753507e-02 2.83869376e-04 9.98942534e-01 -3.64049402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:-7.44, Z:-3.64 [[ 9.84989111e-01 1.66475479e-01 4.56329445e-02 5.83492440e+01] [-1.66279832e-01 9.86045526e-01 -8.07701363e-03 -7.44008941e+00] [-4.63407854e-02 3.67932153e-04 9.98925621e-01 -3.64250804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.38, Y:-7.44, Z:-3.64 [[ 9.85301699e-01 1.64686899e-01 4.53738530e-02 5.83758125e+01] [-1.64491753e-01 9.86345795e-01 -8.02724335e-03 -7.44454981e+00] [-4.60762909e-02 4.45631903e-04 9.98937824e-01 -3.64415029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932640000000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.40, Y:-7.45, Z:-3.65 [[ 9.85841117e-01 1.61733977e-01 4.42652636e-02 5.84034117e+01] [-1.61545450e-01 9.86834232e-01 -7.82732570e-03 -7.44821441e+00] [-4.49484219e-02 5.65647576e-04 9.98989149e-01 -3.64742664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:-7.45, Z:-3.65 [[ 9.86011597e-01 1.60739002e-01 4.40919990e-02 5.84301082e+01] [-1.60551093e-01 9.86996761e-01 -7.79359362e-03 -7.45253195e+00] [-4.47713947e-02 6.05555067e-04 9.98997075e-01 -3.64806713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-7.46, Z:-3.65 [[ 9.86219495e-01 1.59708317e-01 4.31782583e-02 5.84564085e+01] [-1.59527292e-01 9.87164044e-01 -7.62843358e-03 -7.45911288e+00] [-4.38423484e-02 6.35199285e-04 9.99038260e-01 -3.65052513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:-7.46, Z:-3.65 [[ 9.86225129e-01 1.59653303e-01 4.32529510e-02 5.84829323e+01] [-1.59471763e-01 9.87172943e-01 -7.63789567e-03 -7.46412442e+00] [-4.39175582e-02 6.35060310e-04 9.99034957e-01 -3.65201346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052640000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.51, Y:-7.47, Z:-3.65 [[ 9.85799601e-01 1.61751709e-01 4.51168517e-02 5.85096103e+01] [-1.61556558e-01 9.86831328e-01 -7.96296650e-03 -7.46735730e+00] [-4.58107461e-02 5.60965940e-04 9.98949979e-01 -3.65387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:-7.47, Z:-3.66 [[ 9.85495797e-01 1.63565210e-01 4.52156531e-02 5.85393222e+01] [-1.63122716e-01 9.86515682e-01 -1.33337394e-02 -7.46899643e+00] [-4.67868867e-02 5.76464400e-03 9.98888260e-01 -3.65548786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:-7.48, Z:-3.66 [[ 9.85151443e-01 1.65177948e-01 4.68281898e-02 5.85635452e+01] [-1.65218180e-01 9.86252366e-01 -3.03692523e-03 -7.47860694e+00] [-4.66860461e-02 -4.74503701e-03 9.98898342e-01 -3.65567026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.59, Y:-7.48, Z:-3.66 [[ 9.84744149e-01 1.67696749e-01 4.64409364e-02 5.85916110e+01] [-1.67497370e-01 9.85838589e-01 -8.17965947e-03 -7.48010270e+00] [-4.71549696e-02 2.76137088e-04 9.98887548e-01 -3.65642478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:-7.48, Z:-3.66 [[ 9.83995760e-01 1.72018919e-01 4.64955526e-02 5.86188037e+01] [-1.71824043e-01 9.85093644e-01 -8.18603419e-03 -7.48275940e+00] [-4.72106261e-02 6.59690875e-05 9.98884955e-01 -3.65830946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.65, Y:-7.49, Z:-3.66 [[ 9.83720953e-01 1.73594028e-01 4.64564335e-02 5.86465155e+01] [-1.73401424e-01 9.84817300e-01 -8.17512885e-03 -7.48671205e+00] [-4.71702529e-02 -1.35661801e-05 9.98886864e-01 -3.66148993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.67, Y:-7.49, Z:-3.66 [[ 9.83424017e-01 1.75259437e-01 4.64901434e-02 5.86727220e+01] [-1.75068575e-01 9.84522280e-01 -8.17763200e-03 -7.49107665e+00] [-4.72037892e-02 -9.68834588e-05 9.98885275e-01 -3.66246027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:-7.49, Z:-3.66 [[ 9.83080438e-01 1.77141995e-01 4.66215164e-02 5.87002801e+01] [-1.76952374e-01 9.84185286e-01 -8.19637103e-03 -7.49366915e+00] [-4.73361320e-02 -1.92095998e-04 9.98878999e-01 -3.66398136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:-7.50, Z:-3.67 [[ 9.83023692e-01 1.77419904e-01 4.67610736e-02 5.87274259e+01] [-1.77229620e-01 9.84135221e-01 -8.21754252e-03 -7.49669018e+00] [-4.74771752e-02 -2.09408324e-04 9.98872301e-01 -3.66552545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.76, Y:-7.50, Z:-3.67 [[ 9.83089590e-01 1.77211019e-01 4.61639883e-02 5.87553438e+01] [-1.77025528e-01 9.84172858e-01 -8.10850193e-03 -7.49868542e+00] [-4.68702602e-02 -2.00820586e-04 9.98900965e-01 -3.66913022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:-7.51, Z:-3.67 [[ 9.83113162e-01 1.76357847e-01 4.88510027e-02 5.87831950e+01] [-1.76468062e-01 9.84304165e-01 -2.08161740e-03 -7.50598077e+00] [-4.84513550e-02 -6.57417631e-03 9.98803908e-01 -3.67057177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:-7.50, Z:-3.67 [[ 9.83209832e-01 1.76986256e-01 4.44330054e-02 5.88113650e+01] [-1.76514897e-01 9.84193390e-01 -1.43479217e-02 -7.50187911e+00] [-4.62700552e-02 6.26393035e-03 9.98909328e-01 -3.66913884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:-7.51, Z:-3.67 [[ 9.83463606e-01 1.75417656e-01 4.50331203e-02 5.88381778e+01] [-1.75239837e-01 9.84494099e-01 -7.89741419e-03 -7.50754353e+00] [-4.57201871e-02 -1.24777235e-04 9.98954278e-01 -3.67242871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442640000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:58.87, Y:-7.51, Z:-3.68 [[ 9.83658521e-01 1.74241844e-01 4.53397719e-02 5.88660545e+01] [-1.74060504e-01 9.84702886e-01 -7.94774616e-03 -7.51108241e+00] [-4.60310342e-02 -7.39952907e-05 9.98940007e-01 -3.67672058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:-7.51, Z:-3.68 [[ 9.83803766e-01 1.73358285e-01 4.55747273e-02 5.88932463e+01] [-1.73174267e-01 9.84858824e-01 -7.98557662e-03 -7.51479486e+00] [-4.62690382e-02 -3.61296360e-05 9.98929014e-01 -3.67539048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:-7.52, Z:-3.68 [[ 9.84064075e-01 1.71833989e-01 4.57272053e-02 5.89201593e+01] [-1.71647282e-01 9.85125920e-01 -8.00820421e-03 -7.51857724e+00] [-4.64231369e-02 3.16355341e-05 9.98921864e-01 -3.67693661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:-7.52, Z:-3.68 [[ 9.84617438e-01 1.68609706e-01 4.58177605e-02 5.89471081e+01] [-1.68418956e-01 9.85682877e-01 -8.02002319e-03 -7.52132968e+00] [-4.65140358e-02 1.80075306e-04 9.98917620e-01 -3.67775410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:-7.53, Z:-3.68 [[ 9.84880913e-01 1.66984139e-01 4.61073089e-02 5.89749387e+01] [-1.66789382e-01 9.85959549e-01 -8.06656847e-03 -7.52576519e+00] [-4.68069305e-02 2.54399752e-04 9.98903923e-01 -3.67982520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-7.53, Z:-3.68 [[ 9.85404915e-01 1.63790792e-01 4.63651900e-02 5.90029623e+01] [-1.63590475e-01 9.86495014e-01 -8.10827358e-03 -7.53037599e+00] [-4.70670893e-02 4.05029179e-04 9.98891648e-01 -3.68129862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-7.54, Z:-3.68 [[ 9.85879176e-01 1.60950441e-01 4.62299225e-02 5.90273791e+01] [-1.61599110e-01 9.86799235e-01 1.06300301e-02 -7.54377327e+00] [-4.39087442e-02 -1.79506396e-02 9.98874265e-01 -3.67643805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:-7.53, Z:-3.68 [[ 9.85862550e-01 1.61768513e-01 4.36575274e-02 5.90595382e+01] [-1.60740873e-01 9.86650785e-01 -2.61266237e-02 -7.52856328e+00] [-4.73011988e-02 1.87397108e-02 9.98704871e-01 -3.68028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:-7.54, Z:-3.69 [[ 9.86281981e-01 1.58420868e-01 4.63754585e-02 5.90841227e+01] [-1.58215308e-01 9.87371466e-01 -8.09346916e-03 -7.54233526e+00] [-4.70719788e-02 6.45135364e-04 9.98891292e-01 -3.68591190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:-7.55, Z:-3.69 [[ 9.86408095e-01 1.57715313e-01 4.60971755e-02 5.91111899e+01] [-1.57511638e-01 9.87484395e-01 -8.04073715e-03 -7.54757869e+00] [-4.67883888e-02 6.70606573e-04 9.98904599e-01 -3.68787683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-7.55, Z:-3.69 [[ 9.86502542e-01 1.57175457e-01 4.59196141e-02 5.91381705e+01] [-1.56972915e-01 9.87570453e-01 -8.00654573e-03 -7.55215024e+00] [-4.66072865e-02 6.90342028e-04 9.98913051e-01 -3.68957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-7.56, Z:-3.69 [[ 9.86558974e-01 1.56956369e-01 4.54542573e-02 5.91653653e+01] [-1.56757860e-01 9.87605297e-01 -7.92152973e-03 -7.55563616e+00] [-4.61341999e-02 6.89744124e-04 9.98935013e-01 -3.69075449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:-7.56, Z:-3.69 [[ 9.86551974e-01 1.57085447e-01 4.51593186e-02 5.91929497e+01] [-1.56889821e-01 9.87584784e-01 -7.86624851e-03 -7.55989348e+00] [-4.58343290e-02 6.75425588e-04 9.98948827e-01 -3.69261055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832640000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.22, Y:-7.57, Z:-3.69 [[ 9.86653850e-01 1.56869716e-01 4.36586008e-02 5.92197147e+01] [-1.56915859e-01 9.87609084e-01 -2.38945854e-03 -7.56638194e+00] [-4.34924644e-02 -4.49315837e-03 9.99043651e-01 -3.69115278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:-7.57, Z:-3.69 [[ 9.86499926e-01 1.57886893e-01 4.34698296e-02 5.92485416e+01] [-1.57478399e-01 9.87440918e-01 -1.26880938e-02 -7.56565754e+00] [-4.49271721e-02 5.67124439e-03 9.98974167e-01 -3.69431005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:-7.57, Z:-3.70 [[ 9.86517719e-01 1.57534379e-01 4.43363315e-02 5.92760271e+01] [-1.57346960e-01 9.87513304e-01 -7.70768066e-03 -7.57320175e+00] [-4.49969419e-02 6.27576543e-04 9.98986928e-01 -3.69703465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:-7.58, Z:-3.70 [[ 9.86634549e-01 1.56610840e-01 4.50034587e-02 5.93039812e+01] [-1.56593230e-01 9.87655329e-01 -3.93836416e-03 -7.58005103e+00] [-4.50646963e-02 -3.16151083e-03 9.98979068e-01 -3.70071284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:-7.59, Z:-3.70 [[ 9.86906514e-01 1.55421659e-01 4.31235559e-02 5.93301337e+01] [-1.55432595e-01 9.87841574e-01 -3.11978835e-03 -7.58520169e+00] [-4.30841240e-02 -3.62386674e-03 9.99064876e-01 -3.69819169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:-7.59, Z:-3.70 [[ 9.87293440e-01 1.53207706e-01 4.21789247e-02 5.93592578e+01] [-1.52676529e-01 9.88153742e-01 -1.55583006e-02 -7.58592268e+00] [-4.40629138e-02 8.92087635e-03 9.98988928e-01 -3.70093918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:-7.60, Z:-3.70 [[ 9.87617925e-01 1.50673924e-01 4.36829836e-02 5.93847420e+01] [-1.50485974e-01 9.88583097e-01 -7.57844113e-03 -7.59509582e+00] [-4.43261327e-02 9.10927973e-04 9.99016699e-01 -3.70371701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:-7.60, Z:-3.71 [[ 9.87867860e-01 1.48934724e-01 4.39947547e-02 5.94126009e+01] [-1.48742653e-01 9.88846535e-01 -7.62589685e-03 -7.60073442e+00] [-4.46398215e-02 9.89481878e-04 9.99002656e-01 -3.70506805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:-7.61, Z:-3.71 [[ 9.88223275e-01 1.46401803e-01 4.45114691e-02 5.94383118e+01] [-1.46202764e-01 9.89224581e-01 -7.71234071e-03 -7.60829430e+00] [-4.51609399e-02 1.11381479e-03 9.98979103e-01 -3.70535260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:-7.61, Z:-3.71 [[ 9.88283013e-01 1.46026948e-01 4.44164084e-02 5.94654802e+01] [-1.45828555e-01 9.89279973e-01 -7.69200919e-03 -7.61432611e+00] [-4.50635039e-02 1.12470136e-03 9.98983491e-01 -3.70585706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:-7.62, Z:-3.71 [[ 9.88241877e-01 1.46272971e-01 4.45220193e-02 5.94923125e+01] [-1.46074026e-01 9.89243640e-01 -7.70712101e-03 -7.61984226e+00] [-4.51704680e-02 1.11298912e-03 9.98978673e-01 -3.70637817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:-7.63, Z:-3.71 [[ 9.87900285e-01 1.48553949e-01 4.45505348e-02 5.95181247e+01] [-1.48357242e-01 9.88903794e-01 -7.70815679e-03 -7.62655400e+00] [-4.52012700e-02 1.00549584e-03 9.98977394e-01 -3.70745032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192640000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.55, Y:-7.63, Z:-3.71 [[ 9.87647970e-01 1.50402509e-01 4.39382938e-02 5.95455642e+01] [-1.50213173e-01 9.88624432e-01 -7.59838025e-03 -7.63297356e+00] [-4.45812862e-02 9.04414304e-04 9.99005351e-01 -3.70953519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-7.64, Z:-3.71 [[ 9.87440616e-01 1.51842794e-01 4.36439713e-02 5.95730548e+01] [-1.51657534e-01 9.88404308e-01 -7.54429357e-03 -7.63773811e+00] [-4.42834359e-02 8.30604834e-04 9.99018662e-01 -3.71000707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:-7.64, Z:-3.71 [[ 9.87179733e-01 1.53478040e-01 4.38254032e-02 5.96007869e+01] [-1.53292994e-01 9.88151769e-01 -7.57232534e-03 -7.64294444e+00] [-4.44683354e-02 7.57118853e-04 9.99010507e-01 -3.71174357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:-7.65, Z:-3.71 [[ 9.86870375e-01 1.55660038e-01 4.30907869e-02 5.96273105e+01] [-1.55483325e-01 9.87810476e-01 -7.44310161e-03 -7.65036619e+00] [-4.37241242e-02 6.45477646e-04 9.99043435e-01 -3.71272779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-7.66, Z:-3.71 [[ 9.86866988e-01 1.55882635e-01 4.23574325e-02 5.96542651e+01] [-1.55712364e-01 9.87775390e-01 -7.31012636e-03 -7.65685970e+00] [-4.29791512e-02 6.18546416e-04 9.99075778e-01 -3.71394814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.68, Y:-7.66, Z:-3.71 [[ 9.86960673e-01 1.55357457e-01 4.21033390e-02 5.96800272e+01] [-1.55188850e-01 9.87858116e-01 -7.26386401e-03 -7.66480338e+00] [-4.27206205e-02 6.35179336e-04 9.99086856e-01 -3.71480537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:-7.67, Z:-3.72 [[ 9.87037548e-01 1.54835908e-01 4.22222651e-02 5.97078042e+01] [-1.54666111e-01 9.87939985e-01 -7.27876015e-03 -7.67041260e+00] [-4.28400774e-02 6.54056036e-04 9.99081728e-01 -3.71585142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:-7.69, Z:-3.71 [[ 9.87056819e-01 1.53870687e-01 4.51956567e-02 5.97319309e+01] [-1.54577380e-01 9.87900840e-01 1.25603927e-02 -7.68706430e+00] [-4.27161509e-02 -1.93840474e-02 9.98899189e-01 -3.71275366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:-7.67, Z:-3.71 [[ 9.87005393e-01 1.56000751e-01 3.85242654e-02 5.97647159e+01] [-1.55030709e-01 9.87540124e-01 -2.70181844e-02 -7.67186940e+00] [-4.22591149e-02 2.06946495e-02 9.98892336e-01 -3.71458128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:-7.69, Z:-3.72 [[ 9.86719898e-01 1.56762756e-01 4.25356392e-02 5.97893825e+01] [-1.56592675e-01 9.87636127e-01 -7.32214642e-03 -7.69219569e+00] [-4.31575738e-02 5.64138024e-04 9.99068119e-01 -3.71902950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:-7.70, Z:-3.72 [[ 9.86539329e-01 1.57913590e-01 4.24670478e-02 5.98156599e+01] [-1.57745230e-01 9.87452803e-01 -7.30787245e-03 -7.69818410e+00] [-4.30882177e-02 5.10529388e-04 9.99071141e-01 -3.72013801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:59.84, Y:-7.70, Z:-3.72 [[ 9.86003625e-01 1.61595383e-01 4.10339371e-02 5.98424820e+01] [-1.61441600e-01 9.86857042e-01 -7.05608394e-03 -7.70444329e+00] [-4.16348604e-02 3.32739869e-04 9.99132838e-01 -3.72204583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:-7.72, Z:-3.72 [[ 9.85745963e-01 1.62332880e-01 4.41919950e-02 5.98676189e+01] [-1.63051510e-01 9.86529920e-01 1.31500066e-02 -7.71997999e+00] [-4.14620468e-02 -2.01681374e-02 9.98936507e-01 -3.71891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:-7.70, Z:-3.72 [[ 9.85422894e-01 1.66057677e-01 3.69671266e-02 5.99004620e+01] [-1.65126680e-01 9.85903388e-01 -2.69757252e-02 -7.70319168e+00] [-4.09255416e-02 2.04782383e-02 9.98952322e-01 -3.71999802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612640000000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.92, Y:-7.73, Z:-3.72 [[ 9.85222325e-01 1.65387805e-01 4.45403655e-02 5.99236532e+01] [-1.66179190e-01 9.85986477e-01 1.46677751e-02 -7.73163919e+00] [-4.14903270e-02 -2.18527013e-02 9.98899901e-01 -3.72182222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:-7.73, Z:-3.72 [[ 9.84810003e-01 1.68496516e-01 4.19306814e-02 5.99536822e+01] [-1.68370950e-01 9.85702051e-01 -6.53376947e-03 -7.72642940e+00] [-4.24320761e-02 -6.25387148e-04 9.99099158e-01 -3.72070605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:-7.73, Z:-3.72 [[ 9.84669677e-01 1.69265785e-01 4.21274530e-02 5.99810111e+01] [-1.69083672e-01 9.85570239e-01 -7.87502659e-03 -7.73134942e+00] [-4.28525364e-02 6.31235430e-04 9.99081209e-01 -3.72262057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:-7.74, Z:-3.72 [[ 9.84408499e-01 1.70565676e-01 4.29797220e-02 6.00071310e+01] [-1.70429220e-01 9.85346136e-01 -6.84640246e-03 -7.73917304e+00] [-4.35176643e-02 -5.85343736e-04 9.99052486e-01 -3.72495605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:60.04, Y:-7.74, Z:-3.73 [[ 9.84285614e-01 1.71370925e-01 4.25891526e-02 6.00352416e+01] [-1.71191259e-01 9.85206481e-01 -7.85768562e-03 -7.74347849e+00] [-4.33056880e-02 4.43316269e-04 9.99061770e-01 -3.72732671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:-7.75, Z:-3.73 [[ 9.83675574e-01 1.74575522e-01 4.36549274e-02 6.00634241e+01] [-1.74380153e-01 9.84643646e-01 -8.27355473e-03 -7.74793506e+00] [-4.44289071e-02 5.25940759e-04 9.99012410e-01 -3.72826948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-7.75, Z:-3.73 [[ 9.83351748e-01 1.76497149e-01 4.32214816e-02 6.00914278e+01] [-1.76262448e-01 9.84300097e-01 -9.21241176e-03 -7.75268366e+00] [-4.41688730e-02 1.44071704e-03 9.99023040e-01 -3.72974290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-7.76, Z:-3.73 [[ 9.83067814e-01 1.78131763e-01 4.29738078e-02 6.01193934e+01] [-1.77869168e-01 9.84004449e-01 -9.88960425e-03 -7.75751619e+00] [-4.40480707e-02 2.07843620e-03 9.99027251e-01 -3.73125077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:-7.75, Z:-3.73 [[ 9.82905284e-01 1.79713404e-01 4.00036883e-02 6.01494043e+01] [-1.78918399e-01 9.83602773e-01 -2.26669698e-02 -7.75494333e+00] [-4.34212970e-02 1.51220886e-02 9.98942397e-01 -3.73440414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-7.78, Z:-3.74 [[ 9.82636436e-01 1.79593885e-01 4.66011967e-02 6.01731413e+01] [-1.80243570e-01 9.83570143e-01 1.01009382e-02 -7.77727400e+00] [-4.40214789e-02 -1.83251160e-02 9.98862503e-01 -3.73788822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:-7.77, Z:-3.74 [[ 9.82658088e-01 1.80450930e-01 4.26678365e-02 6.02022385e+01] [-1.80250169e-01 9.83583739e-01 -8.53839066e-03 -7.77083068e+00] [-4.35081507e-02 6.99433905e-04 9.99052827e-01 -3.73690501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:-7.78, Z:-3.74 [[ 9.82617718e-01 1.80363697e-01 4.39472055e-02 6.02294747e+01] [-1.80262928e-01 9.83598426e-01 -6.27802223e-03 -7.77752221e+00] [-4.43587295e-02 -1.75315609e-03 9.99014129e-01 -3.74050264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:-7.77, Z:-3.74 [[ 9.83080680e-01 1.79253011e-01 3.76926352e-02 6.02587831e+01] [-1.78421506e-01 9.83651527e-01 -2.44016497e-02 -7.77213318e+00] [-4.14504873e-02 1.72636137e-02 9.98991404e-01 -3.74083136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-7.79, Z:-3.75 [[ 9.83451013e-01 1.76801258e-01 3.95653847e-02 6.02844730e+01] [-1.76672719e-01 9.84246509e-01 -6.74976532e-03 -7.78706122e+00] [-4.01354588e-02 -3.52060543e-04 9.99194186e-01 -3.74618422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:-7.79, Z:-3.75 [[ 9.83953881e-01 1.74309507e-01 3.80914043e-02 6.03119897e+01] [-1.74188604e-01 9.84690884e-01 -6.49566994e-03 -7.79282678e+00] [-3.86405156e-02 -2.43648880e-04 9.99253147e-01 -3.74772207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-7.80, Z:-3.75 [[ 9.83994770e-01 1.73247956e-01 4.17065734e-02 6.03371468e+01] [-1.73459293e-01 9.84839935e-01 1.47534147e-03 -7.80246356e+00] [-4.08186991e-02 -8.68612104e-03 9.99128813e-01 -3.75156975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-7.80, Z:-3.75 [[ 9.84184421e-01 1.73313610e-01 3.66526778e-02 6.03665573e+01] [-1.72875290e-01 9.84832041e-01 -1.48318972e-02 -7.79806706e+00] [-3.86673011e-02 8.26097984e-03 9.99217992e-01 -3.74970164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:-7.82, Z:-3.75 [[ 9.84242774e-01 1.71357556e-01 4.36205282e-02 6.03914397e+01] [-1.71874991e-01 9.85083177e-01 8.37385727e-03 -7.81690000e+00] [-4.15349248e-02 -1.57391864e-02 9.99013077e-01 -3.75383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:-7.80, Z:-3.75 [[ 9.84318306e-01 1.72656244e-01 3.61565272e-02 6.04220190e+01] [-1.71948245e-01 9.84863062e-01 -2.18757810e-02 -7.80478039e+00] [-3.93862182e-02 1.53156803e-02 9.99106679e-01 -3.75153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:-7.82, Z:-3.76 [[ 9.84416015e-01 1.71605006e-01 3.84295743e-02 6.04477654e+01] [-1.71480476e-01 9.85165823e-01 -6.53818888e-03 -7.81756859e+00] [-3.89814892e-02 -1.53623876e-04 9.99239921e-01 -3.75561765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:-7.83, Z:-3.76 [[ 9.84385841e-01 1.70980647e-01 4.18346089e-02 6.04738044e+01] [-1.71134420e-01 9.85247685e-01 9.59305637e-05 -7.82679650e+00] [-4.12010493e-02 -7.25377421e-03 9.99124545e-01 -3.75923414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:-7.82, Z:-3.76 [[ 9.84397035e-01 1.71677724e-01 3.85906321e-02 6.05025120e+01] [-1.71266717e-01 9.85128886e-01 -1.37400345e-02 -7.82449373e+00] [-4.03756043e-02 6.91635836e-03 9.99160635e-01 -3.75747730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:-7.84, Z:-3.76 [[ 9.84364728e-01 1.70524491e-01 4.41302561e-02 6.05281318e+01] [-1.70777383e-01 9.85307615e-01 1.99754708e-03 -7.83821487e+00] [-4.31412466e-02 -9.50276452e-03 9.99023789e-01 -3.76198745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:-7.83, Z:-3.76 [[ 9.84495524e-01 1.71075834e-01 3.87507693e-02 6.05588860e+01] [-1.70583536e-01 9.85218171e-01 -1.56975698e-02 -7.83283687e+00] [-4.08634368e-02 8.84394395e-03 9.99125600e-01 -3.75904585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:-7.85, Z:-3.76 [[ 9.84418955e-01 1.69876096e-01 4.54030098e-02 6.05836688e+01] [-1.70313844e-01 9.85372055e-01 5.92511258e-03 -7.84944938e+00] [-4.37323221e-02 -1.35655542e-02 9.98951180e-01 -3.76483605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-7.84, Z:-3.76 [[ 9.84369986e-01 1.71691309e-01 3.92151209e-02 6.06141191e+01] [-1.71007868e-01 9.85062799e-01 -2.01888767e-02 -7.84036994e+00] [-4.20956114e-02 1.31672301e-02 9.99026818e-01 -3.76075929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-7.85, Z:-3.76 [[ 9.84297742e-01 1.71457063e-01 4.19574753e-02 6.06392738e+01] [-1.71309949e-01 9.85191574e-01 -7.10381031e-03 -7.85241592e+00] [-4.25541496e-02 -1.95468497e-04 9.99094143e-01 -3.76439180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:-7.86, Z:-3.77 [[ 9.83979990e-01 1.72134235e-01 4.64024266e-02 6.06664932e+01] [-1.72458673e-01 9.85012028e-01 3.05137676e-03 -7.86291959e+00] [-4.51817019e-02 -1.10049946e-02 9.98918167e-01 -3.76877190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:-7.86, Z:-3.77 [[ 9.83697416e-01 1.74300703e-01 4.42567316e-02 6.06945642e+01] [-1.74130103e-01 9.84692465e-01 -7.71083445e-03 -7.85970923e+00] [-4.49232740e-02 -1.21301325e-04 9.98990433e-01 -3.76839152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:-7.85, Z:-3.77 [[ 9.83321754e-01 1.77671723e-01 3.88727055e-02 6.07237168e+01] [-1.77094897e-01 9.84032113e-01 -1.78381213e-02 -7.85462053e+00] [-4.14213203e-02 1.06564549e-02 9.99084938e-01 -3.76729402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:-7.87, Z:-3.77 [[ 9.83015815e-01 1.78146399e-01 4.40881779e-02 6.07504361e+01] [-1.78333137e-01 9.83970120e-01 3.07570627e-04 -7.86759894e+00] [-4.33266571e-02 -8.16472984e-03 9.99027596e-01 -3.77401827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.78, Y:-7.86, Z:-3.77 [[ 9.82762052e-01 1.80747230e-01 3.88482689e-02 6.07793582e+01] [-1.80317869e-01 9.83504221e-01 -1.43148004e-02 -7.85921624e+00] [-4.07947969e-02 7.06300559e-03 9.99142582e-01 -3.77118038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:-7.87, Z:-3.78 [[ 9.82777748e-01 1.80258466e-01 4.06790221e-02 6.08073095e+01] [-1.80223253e-01 9.83615154e-01 -4.56147165e-03 -7.86760887e+00] [-4.08347465e-02 -2.84839287e-03 9.99161854e-01 -3.77516770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.83, Y:-7.87, Z:-3.78 [[ 9.82757073e-01 1.80580833e-01 3.97378628e-02 6.08342271e+01] [-1.80361372e-01 9.83558597e-01 -9.06987170e-03 -7.86767949e+00] [-4.07223616e-02 1.74630512e-03 9.99168975e-01 -3.77620234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:-7.87, Z:-3.78 [[ 9.82974087e-01 1.79316064e-01 4.00960498e-02 6.08622674e+01] [-1.79189654e-01 9.83791366e-01 -6.75401193e-03 -7.86839576e+00] [-4.06572504e-02 -5.45778554e-04 9.99173003e-01 -3.77742290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:-7.88, Z:-3.78 [[ 9.82993002e-01 1.77895912e-01 4.55829210e-02 6.08885635e+01] [-1.78371338e-01 9.83941436e-01 6.55109123e-03 -7.87799404e+00] [-4.36855124e-02 -1.45703635e-02 9.98939077e-01 -3.78140302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:-7.87, Z:-3.78 [[ 9.83133947e-01 1.78819111e-01 3.83584058e-02 6.09208030e+01] [-1.78142403e-01 9.83792899e-01 -2.04160540e-02 -7.86514259e+00] [-4.13875079e-02 1.32384572e-02 9.99055463e-01 -3.77785462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:-7.87, Z:-3.78 [[ 9.83444512e-01 1.76645005e-01 4.04157610e-02 6.09478529e+01] [-1.76514855e-01 9.84274524e-01 -6.79470504e-03 -7.87056598e+00] [-4.09804546e-02 -4.51766794e-04 9.99159846e-01 -3.78207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:-7.88, Z:-3.79 [[ 9.83542222e-01 1.75442215e-01 4.31824860e-02 6.09755142e+01] [-1.75562823e-01 9.84467708e-01 -1.01307536e-03 -7.87552215e+00] [-4.26894992e-02 -6.58483674e-03 9.99066688e-01 -3.78592678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:-7.87, Z:-3.79 [[ 9.83754079e-01 1.75043875e-01 3.98441129e-02 6.10052278e+01] [-1.74670027e-01 9.84545051e-01 -1.27052547e-02 -7.87076416e+00] [-4.14523012e-02 5.53927389e-03 9.99125129e-01 -3.78518181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-7.88, Z:-3.79 [[ 9.83809056e-01 1.74507549e-01 4.08271564e-02 6.10326603e+01] [-1.74373603e-01 9.84655761e-01 -6.84676267e-03 -7.87845981e+00] [-4.13955065e-02 -3.83271219e-04 9.99142765e-01 -3.78805158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-7.88, Z:-3.79 [[ 9.84168345e-01 1.72287579e-01 4.15891636e-02 6.10602058e+01] [-1.72147023e-01 9.85046647e-01 -6.96458112e-03 -7.87607072e+00] [-4.21671770e-02 -3.05130437e-04 9.99110522e-01 -3.78978609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872640000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:-7.88, Z:-3.79 [[ 9.84436106e-01 1.70678329e-01 4.18862971e-02 6.10879418e+01] [-1.70534469e-01 9.85326773e-01 -7.01035980e-03 -7.87672115e+00] [-4.24682064e-02 -2.41806133e-04 9.99097789e-01 -3.79151719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902640000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:-7.88, Z:-3.79 [[ 9.85171782e-01 1.66218900e-01 4.25186568e-02 6.11151939e+01] [-1.66066635e-01 9.86088877e-01 -7.11325496e-03 -7.87645034e+00] [-4.31095320e-02 -5.31521966e-05 9.99070351e-01 -3.79392223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932640000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:-7.88, Z:-3.80 [[ 9.85573494e-01 1.63522061e-01 4.36511624e-02 6.11441764e+01] [-1.63352556e-01 9.86539656e-01 -7.44649996e-03 -7.87986092e+00] [-4.42812697e-02 2.08544020e-04 9.99019082e-01 -3.79817081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:-7.88, Z:-3.80 [[ 9.86117930e-01 1.60643752e-01 4.20120666e-02 6.11700260e+01] [-1.60492874e-01 9.87012447e-01 -6.96185627e-03 -7.88088750e+00] [-4.25848113e-02 1.22573986e-04 9.99092848e-01 -3.79689066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:-7.89, Z:-3.80 [[ 9.86500936e-01 1.57345002e-01 4.53701796e-02 6.11964175e+01] [-1.57558293e-01 9.87509028e-01 1.14156252e-03 -7.88708075e+00] [-4.46238429e-02 -8.27460053e-03 9.98969591e-01 -3.80093299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:-7.88, Z:-3.80 [[ 9.87392823e-01 1.53279271e-01 3.95079448e-02 6.12274921e+01] [-1.52786797e-01 9.88142046e-01 -1.52148287e-02 -7.88023364e+00] [-4.13715793e-02 8.98672034e-03 9.99103414e-01 -3.79877818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:-7.89, Z:-3.80 [[ 9.87762830e-01 1.50520245e-01 4.08441969e-02 6.12534990e+01] [-1.50367317e-01 9.88606755e-01 -6.80842865e-03 -7.88943901e+00] [-4.14036553e-02 5.83480455e-04 9.99142331e-01 -3.80291568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.28, Y:-7.89, Z:-3.80 [[ 9.88375864e-01 1.46401719e-01 4.09839871e-02 6.12810833e+01] [-1.46244472e-01 9.89224934e-01 -6.82521040e-03 -7.89293421e+00] [-4.15416045e-02 7.52191658e-04 9.99136492e-01 -3.80464310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:-7.90, Z:-3.81 [[ 9.88609986e-01 1.44743296e-01 4.12271099e-02 6.13087536e+01] [-1.44582856e-01 9.89468898e-01 -6.86282918e-03 -7.89729653e+00] [-4.17862915e-02 8.23928171e-04 9.99126232e-01 -3.80637739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:-7.90, Z:-3.81 [[ 9.88860736e-01 1.42979244e-01 4.13688293e-02 6.13364285e+01] [-1.42816282e-01 9.89725279e-01 -6.88339569e-03 -7.90208335e+00] [-4.19279589e-02 8.98577324e-04 9.99120232e-01 -3.80796292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:-7.91, Z:-3.81 [[ 9.89259307e-01 1.39994286e-01 4.20431079e-02 6.13639797e+01] [-1.39823409e-01 9.90151767e-01 -6.99236335e-03 -7.90743674e+00] [-4.26079484e-02 1.03864987e-03 9.99091329e-01 -3.80960765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.39, Y:-7.91, Z:-3.81 [[ 9.89366012e-01 1.39034089e-01 4.27131831e-02 6.13901471e+01] [-1.38856958e-01 9.90286991e-01 -7.10073586e-03 -7.91372094e+00] [-4.32855539e-02 1.09420405e-03 9.99062142e-01 -3.81289719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:-7.92, Z:-3.81 [[ 9.89517740e-01 1.38198079e-01 4.19038639e-02 6.14175709e+01] [-1.38027012e-01 9.90403993e-01 -6.96243256e-03 -7.91967834e+00] [-4.24639489e-02 1.10558541e-03 9.99097388e-01 -3.81376138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:61.44, Y:-7.93, Z:-3.82 [[ 9.89486122e-01 1.37998202e-01 4.32863698e-02 6.14430272e+01] [-1.37815602e-01 9.90431814e-01 -7.18896293e-03 -7.92985210e+00] [-4.38642618e-02 1.14784193e-03 9.99036841e-01 -3.81684492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:61.47, Y:-7.94, Z:-3.82 [[ 9.89427103e-01 1.38307546e-01 4.36466565e-02 6.14689309e+01] [-1.38122362e-01 9.90388673e-01 -7.24494819e-03 -7.93562235e+00] [-4.42291852e-02 1.13976880e-03 9.99020761e-01 -3.81857758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:61.50, Y:-7.94, Z:-3.82 [[ 9.89232610e-01 1.39655763e-01 4.37619927e-02 6.14952434e+01] [-1.39471063e-01 9.90199527e-01 -7.26079230e-03 -7.94389498e+00] [-4.43471159e-02 1.07908087e-03 9.99015600e-01 -3.81982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:-7.95, Z:-3.82 [[ 9.89179850e-01 1.40276002e-01 4.29635682e-02 6.15221722e+01] [-1.40098813e-01 9.90111908e-01 -7.12271262e-03 -7.95056714e+00] [-4.35378861e-02 1.02649889e-03 9.99051249e-01 -3.82013065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:-7.96, Z:-3.82 [[ 9.89077331e-01 1.41051772e-01 4.27835336e-02 6.15486547e+01] [-1.40876924e-01 9.90001731e-01 -7.08979762e-03 -7.95887400e+00] [-4.33558008e-02 9.85145519e-04 9.99059209e-01 -3.82192372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.57, Y:-7.97, Z:-3.83 [[ 9.88989001e-01 1.41575447e-01 4.30946357e-02 6.15741828e+01] [-1.41398672e-01 9.89926997e-01 -7.13838438e-03 -7.96765018e+00] [-4.36711633e-02 9.66259378e-04 9.99045492e-01 -3.82524751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:61.60, Y:-7.98, Z:-3.83 [[ 9.88739876e-01 1.43581171e-01 4.21652099e-02 6.15990825e+01] [-1.43413913e-01 9.89638174e-01 -6.98094293e-03 -7.97981467e+00] [-4.27306333e-02 8.55258894e-04 9.99086263e-01 -3.82803055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:61.63, Y:-7.99, Z:-3.83 [[ 9.88547594e-01 1.45002306e-01 4.18089183e-02 6.16257099e+01] [-1.44839291e-01 9.89431007e-01 -6.91826919e-03 -7.98700486e+00] [-4.23702052e-02 7.83464274e-04 9.99101672e-01 -3.82949958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.65, Y:-8.00, Z:-3.83 [[ 9.87688499e-01 1.50612786e-01 4.22754883e-02 6.16529283e+01] [-1.50451372e-01 9.88592682e-01 -6.99242761e-03 -7.99538729e+00] [-4.28463874e-02 5.45935104e-04 9.99081523e-01 -3.83003751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:-8.00, Z:-3.83 [[ 9.87173698e-01 1.53901667e-01 4.24542984e-02 6.16793381e+01] [-1.53742049e-01 9.88086087e-01 -7.01903896e-03 -8.00056294e+00] [-4.30287434e-02 4.01999812e-04 9.99073754e-01 -3.83007138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.71, Y:-8.01, Z:-3.83 [[ 9.85912227e-01 1.61563290e-01 4.32941460e-02 6.17056624e+01] [-1.61404846e-01 9.86862351e-01 -7.15379893e-03 -8.01065141e+00] [-4.38811540e-02 6.51328805e-05 9.99036756e-01 -3.83364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.73, Y:-8.02, Z:-3.83 [[ 9.85279656e-01 1.65464383e-01 4.29597260e-02 6.17324016e+01] [-1.65312179e-01 9.86215760e-01 -7.09632407e-03 -8.01631015e+00] [-4.35417477e-02 -1.09902158e-04 9.99051602e-01 -3.83359371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.76, Y:-8.02, Z:-3.84 [[ 9.84649194e-01 1.68911298e-01 4.39879356e-02 6.17598046e+01] [-1.68755453e-01 9.85631218e-01 -7.25944991e-03 -8.02116008e+00] [-4.45820857e-02 -2.75192479e-04 9.99005687e-01 -3.83517700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.79, Y:-8.03, Z:-3.84 [[ 9.83520696e-01 1.75257076e-01 4.44071777e-02 6.17877114e+01] [-1.75130171e-01 9.84522062e-01 -6.76263679e-03 -8.02767413e+00] [-4.49050461e-02 -1.12584341e-03 9.98990625e-01 -3.83691399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:-8.03, Z:-3.84 [[ 9.83142377e-01 1.77072695e-01 4.55667249e-02 6.18140629e+01] [-1.76885788e-01 9.84197773e-01 -8.13395093e-03 -8.03115540e+00] [-4.62869698e-02 -6.32741928e-05 9.98928182e-01 -3.83903467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:-8.03, Z:-3.84 [[ 9.82656880e-01 1.79474793e-01 4.66289049e-02 6.18409271e+01] [-1.79311966e-01 9.83762240e-01 -7.68594860e-03 -8.03499427e+00] [-4.72511900e-02 -8.08470360e-04 9.98882712e-01 -3.84101051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:-8.04, Z:-3.84 [[ 9.82629643e-01 1.79661394e-01 4.64840636e-02 6.18683293e+01] [-1.79499984e-01 9.83728170e-01 -7.65788853e-03 -8.03910400e+00] [-4.71035097e-02 -8.19020383e-04 9.98889678e-01 -3.84357244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.90, Y:-8.04, Z:-3.85 [[ 9.82730439e-01 1.79139963e-01 4.63654823e-02 6.18955378e+01] [-1.78978952e-01 9.83823277e-01 -7.63502014e-03 -8.04427815e+00] [-4.69831779e-02 -7.95278726e-04 9.98895364e-01 -3.84666430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.92, Y:-8.05, Z:-3.85 [[ 9.82892040e-01 1.78241340e-01 4.64032544e-02 6.19231170e+01] [-1.78079223e-01 9.83986511e-01 -7.63788962e-03 -8.04998079e+00] [-4.70215640e-02 -7.56234579e-04 9.98893588e-01 -3.84952199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:61.95, Y:-8.05, Z:-3.85 [[ 9.83247556e-01 1.76265240e-01 4.64199176e-02 6.19499328e+01] [-1.76100962e-01 9.84342482e-01 -7.63731755e-03 -8.05481573e+00] [-4.70392905e-02 -6.65218309e-04 9.98892818e-01 -3.85203160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.98, Y:-8.06, Z:-3.85 [[ 9.83461219e-01 1.75234653e-01 4.57913417e-02 6.19774232e+01] [-1.75073869e-01 9.84526507e-01 -7.52979399e-03 -8.05823927e+00] [-4.64022705e-02 -6.11606994e-04 9.98922647e-01 -3.85226690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.01, Y:-8.06, Z:-3.85 [[ 9.84016745e-01 1.72409879e-01 4.45632125e-02 6.20060177e+01] [-1.72154822e-01 9.85023822e-01 -9.52826905e-03 -8.06084453e+00] [-4.55385936e-02 1.70420437e-03 9.98961126e-01 -3.85235358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:-8.07, Z:-3.86 [[ 9.84153870e-01 1.71165418e-01 4.62985863e-02 6.20314788e+01] [-1.71095889e-01 9.85239086e-01 -5.49000756e-03 -8.06761383e+00] [-4.65548763e-02 -2.51848557e-03 9.98912559e-01 -3.85508329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:-8.07, Z:-3.86 [[ 9.84336617e-01 1.70076617e-01 4.64259415e-02 6.20581230e+01] [-1.69906301e-01 9.85430766e-01 -7.61940114e-03 -8.07115994e+00] [-4.70454330e-02 -3.88004432e-04 9.98892675e-01 -3.85654852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:-8.08, Z:-3.86 [[ 9.84613459e-01 1.68422193e-01 4.65864914e-02 6.20852344e+01] [-1.68249041e-01 9.85714901e-01 -7.64160172e-03 -8.07572819e+00] [-4.72080141e-02 -3.14108591e-04 9.98885031e-01 -3.85778292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:-8.08, Z:-3.86 [[ 9.84686110e-01 1.67844840e-01 4.71314598e-02 6.21132958e+01] [-1.67667115e-01 9.85813382e-01 -7.72752669e-03 -8.07968815e+00] [-4.77598492e-02 -2.93207702e-04 9.98858804e-01 -3.85907108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:-8.08, Z:-3.86 [[ 9.84625055e-01 1.67513041e-01 4.95265789e-02 6.21409581e+01] [-1.67316554e-01 9.85869816e-01 -8.11643782e-03 -8.08253332e+00] [-5.01863684e-02 -2.94968482e-04 9.98739827e-01 -3.86054073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.17, Y:-8.09, Z:-3.86 [[ 9.84656332e-01 1.67382550e-01 4.93456133e-02 6.21676815e+01] [-1.67187508e-01 9.85891981e-01 -8.08329191e-03 -8.08719197e+00] [-5.00024465e-02 -2.90705580e-04 9.98749053e-01 -3.86229316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.20, Y:-8.09, Z:-3.86 [[ 9.84800397e-01 1.66710072e-01 4.87435069e-02 6.21952065e+01] [-1.66519151e-01 9.86005926e-01 -7.98040418e-03 -8.09342931e+00] [-4.93918004e-02 -2.57622163e-04 9.98779447e-01 -3.86475300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:62.22, Y:-8.10, Z:-3.87 [[ 9.84853929e-01 1.65733690e-01 5.09419591e-02 6.22221706e+01] [-1.65524051e-01 9.86170520e-01 -8.33631097e-03 -8.09811667e+00] [-5.16190659e-02 -2.22070805e-04 9.98666823e-01 -3.86900301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:-8.10, Z:-3.87 [[ 9.84834917e-01 1.65848589e-01 5.09355581e-02 6.22493607e+01] [-1.65639307e-01 9.86151202e-01 -8.33233032e-03 -8.10153639e+00] [-5.16120670e-02 -2.30960693e-04 9.98667182e-01 -3.86844848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.28, Y:-8.11, Z:-3.87 [[ 9.85151665e-01 1.63993119e-01 5.08178430e-02 6.22759096e+01] [-1.63782565e-01 9.86461473e-01 -8.30863270e-03 -8.10557023e+00] [-5.14924028e-02 -1.37813332e-04 9.98673377e-01 -3.86983047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.30, Y:-8.11, Z:-3.87 [[ 9.85506173e-01 1.61790920e-01 5.10027618e-02 6.23049681e+01] [-1.61550601e-01 9.86824953e-01 -8.82702118e-03 -8.11096912e+00] [-5.17589299e-02 4.59557032e-04 9.98659503e-01 -3.87291831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:-8.12, Z:-3.87 [[ 9.85685194e-01 1.60690005e-01 5.10237208e-02 6.23306172e+01] [-1.60492020e-01 9.87004872e-01 -7.98080801e-03 -8.11632012e+00] [-5.16430971e-02 -3.22335701e-04 9.98665553e-01 -3.87244944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:-8.12, Z:-3.87 [[ 9.86261512e-01 1.57057056e-01 5.11987354e-02 6.23587479e+01] [-1.56834543e-01 9.87589507e-01 -8.36011471e-03 -8.12450863e+00] [-5.18763489e-02 2.15529116e-04 9.98653492e-01 -3.87473567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:-8.13, Z:-3.88 [[ 9.86622548e-01 1.55007871e-01 5.04827470e-02 6.23868406e+01] [-1.54788984e-01 9.87913184e-01 -8.24077766e-03 -8.13144297e+00] [-5.11499567e-02 3.16363922e-04 9.98690934e-01 -3.87650639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:-8.14, Z:-3.88 [[ 9.87132907e-01 1.51768082e-01 5.03495037e-02 6.24131449e+01] [-1.51546256e-01 9.88416015e-01 -8.21668633e-03 -8.14045569e+00] [-5.10132865e-02 4.80682691e-04 9.98697859e-01 -3.87942471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.44, Y:-8.15, Z:-3.88 [[ 9.87339082e-01 1.50362477e-01 5.05238851e-02 6.24414134e+01] [-1.50137437e-01 9.88630781e-01 -8.24192578e-03 -8.14713791e+00] [-5.11887444e-02 5.52048812e-04 9.98688844e-01 -3.88250026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.47, Y:-8.15, Z:-3.89 [[ 9.87436743e-01 1.49496679e-01 5.11802872e-02 6.24694195e+01] [-1.49264718e-01 9.88762044e-01 -8.34647084e-03 -8.15323408e+00] [-5.18528951e-02 6.02200851e-04 9.98654552e-01 -3.88506633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-8.16, Z:-3.89 [[ 9.87536000e-01 1.48777104e-01 5.13616855e-02 6.24982432e+01] [-1.48542655e-01 9.88870550e-01 -8.37350737e-03 -8.15891580e+00] [-5.20358443e-02 6.39738833e-04 9.98645013e-01 -3.88501929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-8.17, Z:-3.89 [[ 9.87682073e-01 1.47673913e-01 5.17352619e-02 6.25245111e+01] [-1.47434656e-01 9.89035856e-01 -8.43193481e-03 -8.16818709e+00] [-5.24132058e-02 7.00500314e-04 9.98625238e-01 -3.88765462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:-8.18, Z:-3.89 [[ 9.87765265e-01 1.47270664e-01 5.12945603e-02 6.25522710e+01] [-1.47035093e-01 9.89095973e-01 -8.35687773e-03 -8.17557628e+00] [-5.19659660e-02 7.12533089e-04 9.98648602e-01 -3.88960675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:-8.19, Z:-3.89 [[ 9.87842254e-01 1.46959212e-01 5.07017815e-02 6.25793806e+01] [-1.46728784e-01 9.89142292e-01 -8.25767246e-03 -8.18523832e+00] [-5.13648174e-02 7.17867041e-04 9.98679699e-01 -3.89228493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-8.19, Z:-3.89 [[ 9.87872602e-01 1.46769873e-01 5.06589215e-02 6.26075451e+01] [-1.46539683e-01 9.89170399e-01 -8.24880972e-03 -8.19214766e+00] [-5.13209823e-02 7.25230808e-04 9.98681947e-01 -3.89421731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-8.20, Z:-3.90 [[ 9.87830749e-01 1.46936456e-01 5.09910775e-02 6.26362108e+01] [-1.46703561e-01 9.89145672e-01 -8.30087964e-03 -8.19907834e+00] [-5.16573054e-02 7.19291496e-04 9.98664611e-01 -3.89602384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.66, Y:-8.21, Z:-3.90 [[ 9.87698312e-01 1.47746318e-01 5.12159210e-02 6.26647702e+01] [-1.47512517e-01 9.89025058e-01 -8.33621241e-03 -8.20871840e+00] [-5.18854739e-02 6.78673531e-04 9.98652811e-01 -3.89905318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:-8.22, Z:-3.90 [[ 9.87490455e-01 1.49138560e-01 5.11887789e-02 6.26934986e+01] [-1.48906946e-01 9.88816123e-01 -8.33043133e-03 -8.21629072e+00] [-5.18586785e-02 6.03856657e-04 9.98654251e-01 -3.89931017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:-8.22, Z:-3.90 [[ 9.87492140e-01 1.49127367e-01 5.11888784e-02 6.27232215e+01] [-1.48895770e-01 9.88817811e-01 -8.32982024e-03 -8.22108808e+00] [-5.18586788e-02 6.03824571e-04 9.98654251e-01 -3.90116123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:-8.23, Z:-3.90 [[ 9.87020699e-01 1.52156376e-01 5.13670874e-02 6.27514839e+01] [-1.51927284e-01 9.88356332e-01 -8.35835047e-03 -8.23221041e+00] [-5.20407624e-02 4.45802851e-04 9.98644862e-01 -3.90346689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:-8.24, Z:-3.90 [[ 9.86707611e-01 1.54193885e-01 5.13062965e-02 6.27799443e+01] [-1.53968162e-01 9.88040552e-01 -8.34701955e-03 -8.23919266e+00] [-5.19797609e-02 3.36531554e-04 9.98648082e-01 -3.90444200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-8.25, Z:-3.91 [[ 9.86367240e-01 1.56391236e-01 5.12000807e-02 6.28088633e+01] [-1.56169432e-01 9.87695162e-01 -8.32919567e-03 -8.24581799e+00] [-5.18726852e-02 2.19758219e-04 9.98653682e-01 -3.90658323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:-8.25, Z:-3.91 [[ 9.85767549e-01 1.59965835e-01 5.17036790e-02 6.28378053e+01] [-1.59744622e-01 9.87122551e-01 -8.40982942e-03 -8.25480190e+00] [-5.23831529e-02 3.07523014e-05 9.98627060e-01 -3.90900467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:-8.26, Z:-3.91 [[ 9.85457433e-01 1.61797636e-01 5.19150611e-02 6.28654212e+01] [-1.61577215e-01 9.86823956e-01 -8.44293877e-03 -8.26082694e+00] [-5.25970735e-02 -6.81342483e-05 9.98615814e-01 -3.91059775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:-8.27, Z:-3.91 [[ 9.85144859e-01 1.63553122e-01 5.23448559e-02 6.28947751e+01] [-1.63331584e-01 9.86534515e-01 -8.51143118e-03 -8.26652462e+00] [-5.30320781e-02 -1.64575577e-04 9.98592796e-01 -3.91215002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:-8.27, Z:-3.91 [[ 9.84602403e-01 1.66678500e-01 5.26914259e-02 6.29223163e+01] [-1.66458551e-01 9.86011239e-01 -8.56658184e-03 -8.27348131e+00] [-5.33822032e-02 -3.36261360e-04 9.98574097e-01 -3.91427156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-8.28, Z:-3.92 [[ 9.84416636e-01 1.67774539e-01 5.26838777e-02 6.29499125e+01] [-1.67556314e-01 9.85825312e-01 -8.56361902e-03 -8.27884889e+00] [-5.33738574e-02 -3.97347323e-04 9.98574521e-01 -3.91603558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:-8.29, Z:-3.92 [[ 9.84250408e-01 1.68768314e-01 5.26154933e-02 6.29784339e+01] [-1.68552258e-01 9.85655645e-01 -8.54905441e-03 -8.28598779e+00] [-5.33035675e-02 -4.54049888e-04 9.98578251e-01 -3.91834314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.01, Y:-8.29, Z:-3.92 [[ 9.84271942e-01 1.68612079e-01 5.27134905e-02 6.30075718e+01] [-1.68395063e-01 9.85682386e-01 -8.56365771e-03 -8.29185638e+00] [-5.34026952e-02 -4.47723550e-04 9.98572958e-01 -3.92059690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:-8.30, Z:-3.92 [[ 9.84246766e-01 1.68741909e-01 5.27680904e-02 6.30355632e+01] [-1.68490690e-01 9.85660256e-01 -9.20587261e-03 -8.29714215e+00] [-5.35648260e-02 1.69918402e-04 9.98564360e-01 -3.92215324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:63.06, Y:-8.30, Z:-3.92 [[ 9.84412389e-01 1.67423125e-01 5.38678498e-02 6.30646995e+01] [-1.67231232e-01 9.85884573e-01 -8.08235596e-03 -8.30380401e+00] [-5.44606554e-02 -1.05201556e-03 9.98515363e-01 -3.92492802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.09, Y:-8.31, Z:-3.93 [[ 9.84529839e-01 1.66559935e-01 5.43946985e-02 6.30937463e+01] [-1.66325583e-01 9.86031272e-01 -8.83918831e-03 -8.30887548e+00] [-5.51071284e-02 -3.44785293e-04 9.98480388e-01 -3.92659311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-8.32, Z:-3.93 [[ 9.84905354e-01 1.64300570e-01 5.44680328e-02 6.31211974e+01] [-1.64114545e-01 9.86409643e-01 -7.90137112e-03 -8.31696526e+00] [-5.50259926e-02 -1.15689371e-03 9.98484252e-01 -3.92845173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.15, Y:-8.32, Z:-3.93 [[ 9.85268150e-01 1.62489201e-01 5.33285287e-02 6.31511544e+01] [-1.62209447e-01 9.86710021e-01 -9.56188399e-03 -8.32212817e+00] [-5.41734966e-02 7.70628593e-04 9.98531241e-01 -3.93083833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:63.18, Y:-8.33, Z:-3.93 [[ 9.85618782e-01 1.60547834e-01 5.27258063e-02 6.31818633e+01] [-1.60319194e-01 9.87028061e-01 -8.56521539e-03 -8.32925119e+00] [-5.34169772e-02 -1.09216445e-05 9.98572294e-01 -3.93374456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:-8.34, Z:-3.94 [[ 9.86192853e-01 1.56994051e-01 5.26927341e-02 6.32114223e+01] [-1.56760570e-01 9.87599531e-01 -8.56090025e-03 -8.33752621e+00] [-5.33833300e-02 1.82555587e-04 9.98574077e-01 -3.93502429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.24, Y:-8.35, Z:-3.94 [[ 9.86418134e-01 1.55686138e-01 5.23554392e-02 6.32415161e+01] [-1.55453681e-01 9.87806541e-01 -8.50830051e-03 -8.34534446e+00] [-5.30416698e-02 2.53896156e-04 9.98592268e-01 -3.93786679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:-8.35, Z:-3.94 [[ 9.86517605e-01 1.54828918e-01 5.30190549e-02 6.32722778e+01] [-1.54588774e-01 9.87941247e-01 -8.62573007e-03 -8.35194135e+00] [-5.37152237e-02 3.13283905e-04 9.98556246e-01 -3.93884091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:-8.36, Z:-3.94 [[ 9.86603643e-01 1.54405939e-01 5.26503377e-02 6.33035400e+01] [-1.54168518e-01 9.88007436e-01 -8.56585798e-03 -8.36131854e+00] [-5.33415445e-02 3.34082180e-04 9.98576271e-01 -3.94135816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:-8.37, Z:-3.94 [[ 9.86512136e-01 1.55011558e-01 5.25853803e-02 6.33356356e+01] [-1.54775121e-01 9.87912608e-01 -8.56392681e-03 -8.36895086e+00] [-5.32772678e-02 3.09509149e-04 9.98579710e-01 -3.94332754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-8.38, Z:-3.95 [[ 9.86127906e-01 1.57324478e-01 5.29222308e-02 6.33662119e+01] [-1.57087766e-01 9.87546946e-01 -8.62922232e-03 -8.37778733e+00] [-5.36207753e-02 1.96081906e-04 9.98561352e-01 -3.94547125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-8.38, Z:-3.95 [[ 9.85857060e-01 1.59180770e-01 5.24150691e-02 6.33967555e+01] [-1.58950688e-01 9.87249448e-01 -8.55610716e-03 -8.38427190e+00] [-5.31087157e-02 1.03687357e-04 9.98588731e-01 -3.94765080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:-8.39, Z:-3.95 [[ 9.85621981e-01 1.60878828e-01 5.16460466e-02 6.34279678e+01] [-1.60657306e-01 9.86974165e-01 -8.43965369e-03 -8.39008223e+00] [-5.23310753e-02 2.09934531e-05 9.98629790e-01 -3.94965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:-8.40, Z:-3.95 [[ 9.85053091e-01 1.64625599e-01 5.06835211e-02 6.34583590e+01] [-1.64417155e-01 9.86356113e-01 -8.28354740e-03 -8.39647043e+00] [-5.13556849e-02 -1.73506374e-04 9.98680411e-01 -3.95246123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.49, Y:-8.40, Z:-3.96 [[ 9.84767051e-01 1.66455239e-01 5.02643948e-02 6.34900835e+01] [-1.66252635e-01 9.86048975e-01 -8.21459499e-03 -8.40275249e+00] [-5.09305174e-02 -2.67125577e-04 9.98702163e-01 -3.95510212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:-8.41, Z:-3.96 [[ 9.84427423e-01 1.68529659e-01 5.00040215e-02 6.35203688e+01] [-1.68331354e-01 9.85696516e-01 -8.18125845e-03 -8.40901692e+00] [-5.06675745e-02 -3.63389488e-04 9.98715507e-01 -3.95725039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:-8.42, Z:-3.96 [[ 9.83868055e-01 1.71760210e-01 5.00207992e-02 6.35500229e+01] [-1.71565424e-01 9.85138650e-01 -8.19421930e-03 -8.41583672e+00] [-5.06848635e-02 -5.19809039e-04 9.98714561e-01 -3.95955912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:-8.42, Z:-3.96 [[ 9.83685598e-01 1.72841119e-01 4.98857866e-02 6.35797236e+01] [-1.72648772e-01 9.84949551e-01 -8.17210204e-03 -8.42166598e+00] [-5.05474583e-02 -5.73940728e-04 9.98721495e-01 -3.96109480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:-8.43, Z:-3.96 [[ 9.83398963e-01 1.74320828e-01 5.03857964e-02 6.36088931e+01] [-1.74126551e-01 9.84688691e-01 -8.25388403e-03 -8.42974318e+00] [-5.10531478e-02 -6.56643949e-04 9.98695722e-01 -3.96384095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.64, Y:-8.44, Z:-3.97 [[ 9.83460949e-01 1.74088098e-01 4.99789588e-02 6.36378948e+01] [-1.73896602e-01 9.84729875e-01 -8.18812186e-03 -8.43710074e+00] [-5.06412284e-02 -6.38473007e-04 9.98716706e-01 -3.96595910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:-8.44, Z:-3.97 [[ 9.83517078e-01 1.73643830e-01 5.04180200e-02 6.36689596e+01] [-1.73448420e-01 9.84808323e-01 -8.25905825e-03 -8.44393993e+00] [-5.10862203e-02 -6.22001079e-04 9.98694053e-01 -3.96779676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:-8.45, Z:-3.97 [[ 9.83557210e-01 1.73287809e-01 5.08581419e-02 6.36985521e+01] [-1.73088445e-01 9.84871040e-01 -8.33213258e-03 -8.45035859e+00] [-5.15325682e-02 -6.07827616e-04 9.98671130e-01 -3.96960795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:-8.46, Z:-3.97 [[ 9.83635324e-01 1.72771278e-01 5.11041610e-02 6.37290578e+01] [-1.72569109e-01 9.84961801e-01 -8.37577193e-03 -8.45764440e+00] [-5.17827393e-02 -5.80294411e-04 9.98658205e-01 -3.97101584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:-8.46, Z:-3.97 [[ 9.83586869e-01 1.73030328e-01 5.11602972e-02 6.37591435e+01] [-1.72828066e-01 9.84916317e-01 -8.38496363e-03 -8.46406430e+00] [-5.18394645e-02 -5.94595073e-04 9.98655254e-01 -3.97298881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:-8.47, Z:-3.97 [[ 9.83338265e-01 1.74082750e-01 5.23550713e-02 6.37907328e+01] [-1.73871952e-01 9.84730808e-01 -8.58948737e-03 -8.47294859e+00] [-5.30509333e-02 -6.56706862e-04 9.98591592e-01 -3.97475329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:-8.48, Z:-3.98 [[ 9.83096329e-01 1.75382014e-01 5.25619422e-02 6.38229920e+01] [-1.75170912e-01 9.84500193e-01 -8.63260418e-03 -8.48076250e+00] [-5.32612457e-02 -7.20641867e-04 9.98580352e-01 -3.97675517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81264 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:63.85, Y:-8.49, Z:-3.98 [[ 9.82543212e-01 1.78842917e-01 5.12254573e-02 6.38544070e+01] [-1.78646580e-01 9.83877251e-01 -8.42340384e-03 -8.48916139e+00] [-5.19060282e-02 -8.74894510e-04 9.98651590e-01 -3.97794957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:-8.49, Z:-3.98 [[ 9.81978838e-01 1.81521857e-01 5.26058663e-02 6.38855096e+01] [-1.81318055e-01 9.83386367e-01 -8.66113299e-03 -8.49311241e+00] [-5.33040767e-02 -1.03334407e-03 9.98577792e-01 -3.98002209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:-8.50, Z:-3.98 [[ 9.81455520e-01 1.84273970e-01 5.28030882e-02 6.39161768e+01] [-1.84072542e-01 9.82874202e-01 -8.69493689e-03 -8.49706199e+00] [-5.35010438e-02 -1.18590486e-03 9.98567089e-01 -3.98193018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-8.50, Z:-3.98 [[ 9.80903929e-01 1.87224615e-01 5.26728110e-02 6.39449264e+01] [-1.87028339e-01 9.82316213e-01 -8.67510091e-03 -8.50112991e+00] [-5.33655487e-02 -1.34186780e-03 9.98574142e-01 -3.98375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:63.97, Y:-8.50, Z:-3.99 [[ 9.80032140e-01 1.92062961e-01 5.14667323e-02 6.39734450e+01] [-1.91882252e-01 9.81381352e-01 -8.47604719e-03 -8.50487333e+00] [-5.21364260e-02 -1.56875381e-03 9.98638740e-01 -3.98560351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:-8.51, Z:-3.99 [[ 9.79295814e-01 1.95538128e-01 5.23884376e-02 6.40028113e+01] [-1.95355953e-01 9.80694472e-01 -8.62583710e-03 -8.50648422e+00] [-5.30637312e-02 -1.78714700e-03 9.98589529e-01 -3.98703716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-8.51, Z:-3.99 [[ 9.79123542e-01 1.96385791e-01 5.24376893e-02 6.40311289e+01] [-1.96204549e-01 9.80524987e-01 -8.63276906e-03 -8.50993052e+00] [-5.31118178e-02 -1.83596575e-03 9.98586884e-01 -3.98867789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:-8.51, Z:-3.99 [[ 9.79002557e-01 1.96931693e-01 5.26488478e-02 6.40601617e+01] [-1.96749873e-01 9.80415419e-01 -8.66570368e-03 -8.51348088e+00] [-5.33242939e-02 -1.87490807e-03 9.98575488e-01 -3.99119385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.09, Y:-8.52, Z:-3.99 [[ 9.79156918e-01 1.96429892e-01 5.16432703e-02 6.40877787e+01] [-1.96254375e-01 9.80516193e-01 -8.49793885e-03 -8.51710912e+00] [-5.23063120e-02 -1.81440212e-03 9.98629440e-01 -3.99252295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:-8.52, Z:-3.99 [[ 9.79392104e-01 1.95123656e-01 5.21331554e-02 6.41171265e+01] [-1.94943128e-01 9.80777062e-01 -8.57507244e-03 -8.51736415e+00] [-5.28042025e-02 -1.76464214e-03 9.98603326e-01 -3.99440226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-8.52, Z:-4.00 [[ 9.79796736e-01 1.92813998e-01 5.31141925e-02 6.41455401e+01] [-1.92623362e-01 9.81233897e-01 -8.73381452e-03 -8.52015288e+00] [-5.38014478e-02 -1.67367135e-03 9.98550251e-01 -3.99626341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:-8.52, Z:-4.00 [[ 9.80023384e-01 1.91530790e-01 5.35735382e-02 6.41745996e+01] [-1.91335077e-01 9.81485269e-01 -8.80657155e-03 -8.52409317e+00] [-5.42683681e-02 -1.61985103e-03 9.98525072e-01 -3.99794335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:-8.53, Z:-4.00 [[ 9.80314280e-01 1.90105212e-01 5.33284208e-02 6.42032371e+01] [-1.89909247e-01 9.81762523e-01 -8.76503879e-03 -8.52657288e+00] [-5.40221246e-02 -1.53506754e-03 9.98538559e-01 -3.99943216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:-8.53, Z:-4.00 [[ 9.80981296e-01 1.86866353e-01 5.25039314e-02 6.42329885e+01] [-1.86671866e-01 9.82384435e-01 -8.62767895e-03 -8.52544379e+00] [-5.31912679e-02 -1.33741520e-03 9.98583447e-01 -4.00148361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:-8.53, Z:-4.00 [[ 9.81296894e-01 1.85264867e-01 5.22813027e-02 6.42610811e+01] [-1.85069884e-01 9.82687831e-01 -8.58869000e-03 -8.52765047e+00] [-5.29673824e-02 -1.24763978e-03 9.98595464e-01 -4.00352876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:-8.53, Z:-4.01 [[ 9.81640336e-01 1.83392446e-01 5.24353146e-02 6.42900994e+01] [-1.83193817e-01 9.83039104e-01 -8.61073679e-03 -8.53083927e+00] [-5.31251088e-02 -1.15317886e-03 9.98587198e-01 -4.00611435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:-8.53, Z:-4.01 [[ 9.81937039e-01 1.81965388e-01 5.18483285e-02 6.43196545e+01] [-1.81769335e-01 9.83304358e-01 -8.51168231e-03 -8.53467925e+00] [-5.25315189e-02 -1.06650005e-03 9.98618697e-01 -4.00768727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:-8.53, Z:-4.01 [[ 9.82418513e-01 1.79505956e-01 5.12979214e-02 6.43488400e+01] [-1.79310755e-01 9.83756451e-01 -8.42016751e-03 -8.53471962e+00] [-5.19761313e-02 -9.26140564e-04 9.98647898e-01 -4.01012982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-8.53, Z:-4.01 [[ 9.82876775e-01 1.77218828e-01 5.04651571e-02 6.43785085e+01] [-1.77027004e-01 9.84171152e-01 -8.28149921e-03 -8.53449118e+00] [-5.11339894e-02 -7.94002350e-04 9.98691486e-01 -4.01204518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:-8.54, Z:-4.01 [[ 9.83090943e-01 1.76080623e-01 5.02773608e-02 6.44073824e+01] [-1.75888794e-01 9.84375476e-01 -8.24956962e-03 -8.53702330e+00] [-5.09443903e-02 -7.33147172e-04 9.98701222e-01 -4.01449325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:-8.54, Z:-4.02 [[ 9.83356469e-01 1.74632411e-01 5.01355696e-02 6.44356126e+01] [-1.74439864e-01 9.84633479e-01 -8.22470869e-03 -8.53954616e+00] [-5.08014610e-02 -6.57821424e-04 9.98708556e-01 -4.01618729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:-8.54, Z:-4.02 [[ 9.83639533e-01 1.73008017e-01 5.02144862e-02 6.44647283e+01] [-1.72812906e-01 9.84920247e-01 -8.23452376e-03 -8.54271713e+00] [-5.08819027e-02 -5.77908182e-04 9.98704510e-01 -4.01789572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-8.54, Z:-4.02 [[ 9.84250989e-01 1.69167042e-01 5.13079127e-02 6.44931353e+01] [-1.68958257e-01 9.85587317e-01 -8.41115906e-03 -8.54434780e+00] [-5.19913190e-02 -3.90203882e-04 9.98647461e-01 -4.01910728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:-8.55, Z:-4.02 [[ 9.84559846e-01 1.66992144e-01 5.24931812e-02 6.45219412e+01] [-1.66770615e-01 9.85958185e-01 -8.60341034e-03 -8.54701686e+00] [-5.31927837e-02 -2.83747741e-04 9.98584221e-01 -4.02043276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:-8.55, Z:-4.02 [[ 9.85438551e-01 1.61618996e-01 5.28219968e-02 6.45512020e+01] [-1.61802332e-01 9.86822852e-01 -8.15245150e-04 -8.55408675e+00] [-5.22577127e-02 -7.74334826e-03 9.98603611e-01 -4.01881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:-8.55, Z:-4.02 [[ 9.85648134e-01 1.60599841e-01 5.20139072e-02 6.45821309e+01] [-1.59957649e-01 9.86989128e-01 -1.63098529e-02 -8.55146424e+00] [-5.39565207e-02 7.75575375e-03 9.98513166e-01 -4.02349732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:-8.56, Z:-4.03 [[ 9.85658425e-01 1.60128188e-01 5.32581754e-02 6.46111135e+01] [-1.59889983e-01 9.87096224e-01 -8.73145664e-03 -8.56051722e+00] [-5.39690962e-02 9.07850534e-05 9.98542602e-01 -4.02603783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.64, Y:-8.57, Z:-4.03 [[ 9.86106319e-01 1.57699448e-01 5.22035649e-02 6.46416777e+01] [-1.57467235e-01 9.87487132e-01 -8.55765003e-03 -8.56595112e+00] [-5.28998852e-02 2.18401742e-04 9.98599797e-01 -4.02768542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.67, Y:-8.57, Z:-4.03 [[ 9.86558007e-01 1.55195832e-01 5.11620290e-02 6.46718133e+01] [-1.54969364e-01 9.87883664e-01 -8.38825890e-03 -8.57044526e+00] [-5.18439555e-02 3.46956889e-04 9.98655138e-01 -4.02993299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-8.58, Z:-4.03 [[ 9.86589313e-01 1.54857575e-01 5.15815711e-02 6.47026832e+01] [-1.54626886e-01 9.87936737e-01 -8.45756565e-03 -8.57514247e+00] [-5.22690471e-02 3.68246193e-04 9.98632971e-01 -4.03262514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:-8.58, Z:-4.03 [[ 9.86630181e-01 1.54632547e-01 5.14748554e-02 6.47325127e+01] [-1.54402433e-01 9.87971979e-01 -8.44146953e-03 -8.58015204e+00] [-5.21610406e-02 3.80765718e-04 9.98638614e-01 -4.03480176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-8.58, Z:-4.04 [[ 9.86594138e-01 1.55038473e-01 5.09419162e-02 6.47621454e+01] [-1.54813610e-01 9.87908369e-01 -8.35470452e-03 -8.58437063e+00] [-5.16212460e-02 3.56200545e-04 9.98666671e-01 -4.03665750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.79, Y:-8.59, Z:-4.04 [[ 9.86642484e-01 1.54981588e-01 5.01728693e-02 6.47918161e+01] [-1.54763359e-01 9.87917295e-01 -8.22927222e-03 -8.58883293e+00] [-5.08420310e-02 3.54427793e-04 9.98706645e-01 -4.03781965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.82, Y:-8.60, Z:-4.04 [[ 9.86596595e-01 1.55355712e-01 4.99175407e-02 6.48205426e+01] [-1.55140173e-01 9.87858538e-01 -8.18752169e-03 -8.59537841e+00] [-5.05834470e-02 3.33565147e-04 9.98719782e-01 -4.04088683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-8.60, Z:-4.04 [[ 9.86519978e-01 1.55686231e-01 5.03997059e-02 6.48489748e+01] [-1.55466967e-01 9.87806507e-01 -8.26599234e-03 -8.60134635e+00] [-5.10720586e-02 3.19077183e-04 9.98694920e-01 -4.04368411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:-8.61, Z:-4.05 [[ 9.86620319e-01 1.55043861e-01 5.04157357e-02 6.48783701e+01] [-1.54823656e-01 9.87907525e-01 -8.26789593e-03 -8.60715082e+00] [-5.10879712e-02 3.51725575e-04 9.98694095e-01 -4.04553382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:64.91, Y:-8.61, Z:-4.05 [[ 9.86887323e-01 1.53485698e-01 4.99555046e-02 6.49092371e+01] [-1.53267516e-01 9.88150777e-01 -8.19215814e-03 -8.61460337e+00] [-5.06209498e-02 4.28180916e-04 9.98717846e-01 -4.04650716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:64.94, Y:-8.62, Z:-4.05 [[ 9.86929589e-01 1.53201555e-01 4.99927041e-02 6.49407952e+01] [-1.52982701e-01 9.88194863e-01 -8.19790070e-03 -8.62080995e+00] [-5.06584645e-02 4.42731863e-04 9.98715938e-01 -4.04862964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:-8.63, Z:-4.05 [[ 9.86812083e-01 1.53541618e-01 5.12531442e-02 6.49708300e+01] [-1.53311550e-01 9.88142081e-01 -8.41400492e-03 -8.62831960e+00] [-5.19372885e-02 4.45342738e-04 9.98650249e-01 -4.05022121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.00, Y:-8.64, Z:-4.05 [[ 9.86828167e-01 1.53553897e-01 5.09054998e-02 6.50022261e+01] [-1.53326539e-01 9.88140172e-01 -8.36503033e-03 -8.63595498e+00] [-5.15862523e-02 4.49683425e-04 9.98668442e-01 -4.05185932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.03, Y:-8.64, Z:-4.05 [[ 9.86765939e-01 1.54029472e-01 5.06744824e-02 6.50323540e+01] [-1.53804342e-01 9.88066159e-01 -8.33600671e-03 -8.64395787e+00] [-5.13537319e-02 4.31732063e-04 9.98680433e-01 -4.05470532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:-8.65, Z:-4.06 [[ 9.86528612e-01 1.55515023e-01 5.07580082e-02 6.50636902e+01] [-1.55290641e-01 9.87833460e-01 -8.35894059e-03 -8.65430587e+00] [-5.14403998e-02 3.64090420e-04 9.98676000e-01 -4.05678980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:65.09, Y:-8.66, Z:-4.06 [[ 9.86414543e-01 1.56123893e-01 5.11046002e-02 6.50941169e+01] [-1.55897133e-01 9.87737423e-01 -8.41827624e-03 -8.66115908e+00] [-5.17922201e-02 3.36849467e-04 9.98657826e-01 -4.05838149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-8.67, Z:-4.06 [[ 9.86192948e-01 1.57483532e-01 5.12094374e-02 6.51253009e+01] [-1.57257245e-01 9.87521575e-01 -8.44374971e-03 -8.66717767e+00] [-5.19001758e-02 2.74111360e-04 9.98652240e-01 -4.06010779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:65.16, Y:-8.67, Z:-4.06 [[ 9.85857386e-01 1.59664366e-01 5.09166424e-02 6.51567368e+01] [-1.59443132e-01 9.87171344e-01 -8.40388810e-03 -8.67490358e+00] [-5.16052517e-02 1.66726218e-04 9.98667547e-01 -4.06195879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:-8.68, Z:-4.06 [[ 9.85574082e-01 1.61447926e-01 5.07769168e-02 6.51881940e+01] [-1.61229823e-01 9.86881229e-01 -8.38950990e-03 -8.68252685e+00] [-5.14652551e-02 8.17302333e-05 9.98674782e-01 -4.06436892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.22, Y:-8.69, Z:-4.07 [[ 9.85336881e-01 1.63466599e-01 4.88866230e-02 6.52178975e+01] [-1.63266477e-01 9.86548869e-01 -8.08619854e-03 -8.69126579e+00] [-4.95508660e-02 -1.39170724e-05 9.98771601e-01 -4.06658013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:-8.70, Z:-4.07 [[ 9.85161017e-01 1.64681341e-01 4.83510793e-02 6.52483943e+01] [-1.64486596e-01 9.86346821e-01 -8.00674923e-03 -8.69686242e+00] [-4.90094956e-02 -6.51672418e-05 9.98798311e-01 -4.06916855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:-8.70, Z:-4.07 [[ 9.84905019e-01 1.66143037e-01 4.85653642e-02 6.52777579e+01] [-1.65948270e-01 9.86101654e-01 -8.04359542e-03 -8.70221699e+00] [-4.92267734e-02 -1.37160660e-04 9.98787618e-01 -4.07107447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.31, Y:-8.71, Z:-4.07 [[ 9.84684005e-01 1.67457427e-01 4.85326813e-02 6.53076918e+01] [-1.67264480e-01 9.85879287e-01 -8.03892906e-03 -8.70764205e+00] [-4.91935436e-02 -2.01988859e-04 9.98789244e-01 -4.07270056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-8.71, Z:-4.07 [[ 9.84090189e-01 1.71037105e-01 4.80916628e-02 6.53363567e+01] [-1.70851912e-01 9.85264516e-01 -7.96603069e-03 -8.71316786e+00] [-4.87454957e-02 -3.77259887e-04 9.98811160e-01 -4.07429603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:-8.72, Z:-4.08 [[ 9.83776008e-01 1.72708815e-01 4.85430898e-02 6.53660942e+01] [-1.72522198e-01 9.84972816e-01 -8.04006127e-03 -8.71907438e+00] [-4.92022133e-02 -4.65141150e-04 9.98788729e-01 -4.07675434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:-8.72, Z:-4.08 [[ 9.83226224e-01 1.75615704e-01 4.92475013e-02 6.53955683e+01] [-1.75427263e-01 9.84458603e-01 -8.15686729e-03 -8.72439051e+00] [-4.99146003e-02 -6.19308534e-04 9.98753297e-01 -4.07789389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:-8.73, Z:-4.08 [[ 9.82967247e-01 1.76946247e-01 4.96529675e-02 6.54242303e+01] [-1.76756408e-01 9.84220273e-01 -8.22355104e-03 -8.72892191e+00] [-5.03245837e-02 -6.92998880e-04 9.98732675e-01 -4.07929724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:-8.73, Z:-4.08 [[ 9.82805783e-01 1.78047482e-01 4.89069312e-02 6.54535517e+01] [-1.77864727e-01 9.84021620e-01 -8.09883784e-03 -8.73184659e+00] [-4.95674554e-02 -7.39233313e-04 9.98770505e-01 -4.08041881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:-8.74, Z:-4.08 [[ 9.82823292e-01 1.77915027e-01 4.90369231e-02 6.54823651e+01] [-1.77731188e-01 9.84045579e-01 -8.11929261e-03 -8.73563318e+00] [-4.96991115e-02 -7.35560683e-04 9.98763965e-01 -4.08221793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.51, Y:-8.74, Z:-4.08 [[ 9.82957053e-01 1.77045516e-01 4.95006764e-02 6.55115249e+01] [-1.76857178e-01 9.84202416e-01 -8.19410263e-03 -8.74005924e+00] [-5.01694144e-02 -7.00098978e-04 9.98740477e-01 -4.08405514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.54, Y:-8.74, Z:-4.09 [[ 9.83365958e-01 1.74537166e-01 5.02809123e-02 6.55405639e+01] [-1.74339647e-01 9.84650414e-01 -8.32162158e-03 -8.74470840e+00] [-5.09615534e-02 -5.82757107e-04 9.98700446e-01 -4.08545993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:-8.75, Z:-4.09 [[ 9.83657809e-01 1.72877734e-01 5.03051011e-02 6.55696748e+01] [-1.72677806e-01 9.84943167e-01 -8.32660271e-03 -8.74970877e+00] [-5.09871499e-02 -4.96046720e-04 9.98699186e-01 -4.08687681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:-8.76, Z:-4.09 [[ 9.84277423e-01 1.69276991e-01 5.04306858e-02 6.55996652e+01] [-1.69071410e-01 9.85568467e-01 -8.34596744e-03 -8.75714362e+00] [-5.11156740e-02 -3.11639823e-04 9.98692691e-01 -4.08923666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.63, Y:-8.76, Z:-4.09 [[ 9.84581221e-01 1.67444999e-01 5.06161267e-02 6.56299124e+01] [-1.67235495e-01 9.85881395e-01 -8.37640721e-03 -8.76354664e+00] [-5.13040851e-02 -2.17559755e-04 9.98683055e-01 -4.09134559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:-8.77, Z:-4.09 [[ 9.84735382e-01 1.66569060e-01 5.05071754e-02 6.56608680e+01] [-1.66359312e-01 9.86029776e-01 -8.35826094e-03 -8.76991947e+00] [-5.11938065e-02 -1.71663690e-04 9.98688723e-01 -4.09262182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:-8.78, Z:-4.09 [[ 9.85064415e-01 1.64655798e-01 5.03643394e-02 6.56918631e+01] [-1.64444322e-01 9.86351086e-01 -8.34271186e-03 -8.77800811e+00] [-5.10505967e-02 -6.40210564e-05 9.98696066e-01 -4.09482405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:-8.78, Z:-4.10 [[ 9.85170698e-01 1.64171057e-01 4.98654128e-02 6.57227906e+01] [-1.63962709e-01 9.86431885e-01 -8.26843681e-03 -8.78458242e+00] [-5.05462712e-02 -3.02464918e-05 9.98721720e-01 -4.09625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:-8.79, Z:-4.10 [[ 9.85226525e-01 1.63745497e-01 5.01608067e-02 6.57551018e+01] [-1.63533658e-01 9.86502616e-01 -8.32649823e-03 -8.79078698e+00] [-5.08471936e-02 5.06704881e-07 9.98706445e-01 -4.09816293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:-8.80, Z:-4.10 [[ 9.85167629e-01 1.64190004e-01 4.98636583e-02 6.57861903e+01] [-1.63980724e-01 9.86428732e-01 -8.28733159e-03 -8.79727685e+00] [-5.05476422e-02 -1.22679520e-05 9.98721651e-01 -4.09980115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:65.82, Y:-8.80, Z:-4.10 [[ 9.85079656e-01 1.64642831e-01 5.01079703e-02 6.58183292e+01] [-1.64431604e-01 9.86353252e-01 -8.33727094e-03 -8.80436278e+00] [-5.07968314e-02 -2.64579491e-05 9.98709007e-01 -4.10241851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:-8.81, Z:-4.10 [[ 9.84517900e-01 1.68310139e-01 4.89510102e-02 6.58492185e+01] [-1.68112603e-01 9.85734070e-01 -8.15450566e-03 -8.81151228e+00] [-4.96251645e-02 -2.01024946e-04 9.98767892e-01 -4.10424575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:-8.82, Z:-4.11 [[ 9.84112898e-01 1.70782694e-01 4.85291132e-02 6.58796867e+01] [-1.70591015e-01 9.85308669e-01 -8.09516778e-03 -8.81684073e+00] [-4.91986706e-02 -3.12071649e-04 9.98788963e-01 -4.10603256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.91, Y:-8.82, Z:-4.11 [[ 9.83043668e-01 1.76587693e-01 4.94159149e-02 6.59086564e+01] [-1.76396184e-01 9.84284721e-01 -8.24463480e-03 -8.81942198e+00] [-5.00952311e-02 -6.11942781e-04 9.98744258e-01 -4.10730577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:-8.82, Z:-4.11 [[ 9.82360535e-01 1.80425893e-01 4.91352880e-02 6.59390911e+01] [-1.80241348e-01 9.83588254e-01 -8.19781454e-03 -8.82209401e+00] [-4.98079902e-02 -8.03001056e-04 9.98758489e-01 -4.10825008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:65.97, Y:-8.82, Z:-4.11 [[ 9.81135086e-01 1.86898417e-01 4.94259575e-02 6.59682303e+01] [-1.86719855e-01 9.82378587e-01 -8.24671755e-03 -8.82367623e+00] [-5.00963007e-02 -1.13766369e-03 9.98743744e-01 -4.11103797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:-8.83, Z:-4.11 [[ 9.80588170e-01 1.89863325e-01 4.89771278e-02 6.59963572e+01] [-1.89691765e-01 9.81809698e-01 -8.17019478e-03 -8.82748895e+00] [-4.96374393e-02 -1.27896145e-03 9.98766484e-01 -4.11197496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:-8.83, Z:-4.11 [[ 9.79904012e-01 1.93220016e-01 4.95394010e-02 6.60248667e+01] [-1.93048897e-01 9.81154356e-01 -8.26153651e-03 -8.82879808e+00] [-5.02020933e-02 -1.46801396e-03 9.98738001e-01 -4.11418841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:-8.83, Z:-4.12 [[ 9.79774050e-01 1.93882836e-01 4.95202615e-02 6.60527118e+01] [-1.93712811e-01 9.81023539e-01 -8.25603894e-03 -8.83149195e+00] [-5.01812465e-02 -1.50365633e-03 9.98738996e-01 -4.11540606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:-8.83, Z:-4.12 [[ 9.79789180e-01 1.93631567e-01 5.01993822e-02 6.60804573e+01] [-1.93456675e-01 9.81073149e-01 -8.36612322e-03 -8.83413125e+00] [-5.08692115e-02 -1.51436856e-03 9.98704175e-01 -4.11727719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:-8.84, Z:-4.12 [[ 9.79933236e-01 1.92835681e-01 5.04505102e-02 6.61087037e+01] [-1.92658142e-01 9.81229942e-01 -8.40482544e-03 -8.83733364e+00] [-5.11243014e-02 -1.48353378e-03 9.98691196e-01 -4.11901568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:-8.84, Z:-4.12 [[ 9.80611919e-01 1.89354814e-01 5.04481821e-02 6.61362947e+01] [-1.89172807e-01 9.81907864e-01 -8.40211919e-03 -8.83957418e+00] [-5.11264484e-02 -1.30420601e-03 9.98691336e-01 -4.12104734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-8.84, Z:-4.12 [[ 9.81008774e-01 1.87245579e-01 5.06051302e-02 6.61650237e+01] [-1.87059796e-01 9.82312400e-01 -8.42508507e-03 -8.84306192e+00] [-5.12876068e-02 -1.20110297e-03 9.98683202e-01 -4.12274530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:-8.84, Z:-4.12 [[ 9.81848807e-01 1.82759779e-01 5.07127437e-02 6.61943547e+01] [-1.82567350e-01 9.83157119e-01 -8.44054013e-03 -8.84423812e+00] [-5.14011862e-02 -9.71156976e-04 9.98677613e-01 -4.12456212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:-8.85, Z:-4.13 [[ 9.82201998e-01 1.80969115e-01 5.02932936e-02 6.62223566e+01] [-1.80777645e-01 9.83488392e-01 -8.36811959e-03 -8.84790687e+00] [-5.09772417e-02 -8.72719387e-04 9.98699434e-01 -4.12647805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:-8.85, Z:-4.13 [[ 9.82538381e-01 1.79111233e-01 5.03735727e-02 6.62506231e+01] [-1.78916806e-01 9.83828521e-01 -8.37959268e-03 -8.85196453e+00] [-5.10598367e-02 -7.79407332e-04 9.98695292e-01 -4.12840163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.28, Y:-8.85, Z:-4.13 [[ 9.83031361e-01 1.76413117e-01 5.02767896e-02 6.62786085e+01] [-1.76215994e-01 9.84316008e-01 -8.36185071e-03 -8.85489377e+00] [-5.09633889e-02 -6.39612973e-04 9.98700317e-01 -4.13030424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:-8.86, Z:-4.13 [[ 9.83167375e-01 1.75764016e-01 4.98891195e-02 6.63083153e+01] [-1.75569249e-01 9.84432144e-01 -8.29417659e-03 -8.85909400e+00] [-5.05702706e-02 -6.04431415e-04 9.98720322e-01 -4.13184886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:-8.86, Z:-4.13 [[ 9.83265278e-01 1.75317772e-01 4.95284885e-02 6.63370677e+01] [-1.75125301e-01 9.84511729e-01 -8.23313828e-03 -8.86217161e+00] [-5.02047933e-02 -5.78332449e-04 9.98738777e-01 -4.13345741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:-8.87, Z:-4.14 [[ 9.83284973e-01 1.75293610e-01 4.92220741e-02 6.63654216e+01] [-1.75103575e-01 9.84516033e-01 -8.18038614e-03 -8.86594623e+00] [-4.98938905e-02 -5.75310397e-04 9.98754359e-01 -4.13589143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.39, Y:-8.87, Z:-4.14 [[ 9.83475561e-01 1.74156239e-01 4.94512381e-02 6.63949621e+01] [-1.73963089e-01 9.84717895e-01 -8.21653763e-03 -8.86947804e+00] [-5.01264804e-02 -5.21926180e-04 9.98742741e-01 -4.13836171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:-8.87, Z:-4.14 [[ 9.83483703e-01 1.74080590e-01 4.95555647e-02 6.64241536e+01] [-1.73952352e-01 9.84729741e-01 -6.92213817e-03 -8.87475552e+00] [-5.00038483e-02 -1.81249698e-03 9.98747380e-01 -4.13991579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-8.88, Z:-4.14 [[ 9.83433448e-01 1.74662239e-01 4.84948939e-02 6.64527931e+01] [-1.74412646e-01 9.84628122e-01 -9.36434271e-03 -8.87792095e+00] [-4.93850334e-02 7.51085089e-04 9.98779532e-01 -4.14110062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:66.48, Y:-8.88, Z:-4.14 [[ 9.83498426e-01 1.74206987e-01 4.88136522e-02 6.64813143e+01] [-1.74018857e-01 9.84708920e-01 -8.11046683e-03 -8.88278343e+00] [-4.94801388e-02 -5.17864630e-04 9.98774974e-01 -4.14386922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:66.51, Y:-8.89, Z:-4.15 [[ 9.83504583e-01 1.74172139e-01 4.88139513e-02 6.65102048e+01] [-1.73984056e-01 9.84715085e-01 -8.10866634e-03 -8.88749718e+00] [-4.94801379e-02 -5.17938752e-04 9.98774974e-01 -4.14567035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:-8.89, Z:-4.15 [[ 9.83483456e-01 1.74409774e-01 4.83892874e-02 6.65386393e+01] [-1.74225317e-01 9.84673018e-01 -8.03653591e-03 -8.89170242e+00] [-4.90492761e-02 -5.26838823e-04 9.98796221e-01 -4.14675470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-8.90, Z:-4.15 [[ 9.83460909e-01 1.74453776e-01 4.86879917e-02 6.65666537e+01] [-1.74267206e-01 9.84665219e-01 -8.08374882e-03 -8.89570731e+00] [-4.93516125e-02 -5.34669288e-04 9.98781324e-01 -4.14830059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-8.90, Z:-4.15 [[ 9.83426522e-01 1.74562545e-01 4.89917809e-02 6.65956586e+01] [-1.74373892e-01 9.84645936e-01 -8.13177217e-03 -8.89966833e+00] [-4.96590608e-02 -5.45887101e-04 9.98766079e-01 -4.14982542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:-8.90, Z:-4.15 [[ 9.83454819e-01 1.74462472e-01 4.87797634e-02 6.66236049e+01] [-1.74275445e-01 9.84663675e-01 -8.09419857e-03 -8.90472315e+00] [-4.94437950e-02 -5.40836374e-04 9.98776761e-01 -4.15176425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264000000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:66.65, Y:-8.91, Z:-4.15 [[ 9.83566554e-01 1.73748711e-01 4.90736040e-02 6.66526473e+01] [-1.73558669e-01 9.84789889e-01 -8.14025336e-03 -8.91022640e+00] [-4.97415475e-02 -5.10668439e-04 9.98761993e-01 -4.15462693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-8.92, Z:-4.16 [[ 9.83838547e-01 1.72614760e-01 4.76010300e-02 6.66812705e+01] [-1.72434685e-01 9.84989315e-01 -7.89486783e-03 -8.91638149e+00] [-4.82492766e-02 -4.40793313e-04 9.98835228e-01 -4.15574510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.71, Y:-8.92, Z:-4.16 [[ 9.84058418e-01 1.71175705e-01 4.82483917e-02 6.67098110e+01] [-1.70989020e-01 9.85240446e-01 -8.00115559e-03 -8.92091109e+00] [-4.89058704e-02 -3.76340702e-04 9.98803321e-01 -4.15825365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:-8.93, Z:-4.16 [[ 9.84396350e-01 1.69347224e-01 4.78052609e-02 6.67382115e+01] [-1.69161892e-01 9.85556410e-01 -7.92575225e-03 -8.92787352e+00] [-4.84569854e-02 -2.84746803e-04 9.98825230e-01 -4.15949368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:-8.93, Z:-4.16 [[ 9.84501749e-01 1.68750587e-01 4.77445904e-02 6.67668172e+01] [-1.68565091e-01 9.85658751e-01 -7.91431823e-03 -8.93359205e+00] [-4.83954192e-02 -2.56411100e-04 9.98828222e-01 -4.16094503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:-8.94, Z:-4.16 [[ 9.84547527e-01 1.68414058e-01 4.79882611e-02 6.67960300e+01] [-1.68226285e-01 9.85716312e-01 -7.95425869e-03 -8.93916586e+00] [-4.86424207e-02 -2.41541164e-04 9.98816228e-01 -4.16250417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-8.95, Z:-4.16 [[ 9.84504501e-01 1.68339951e-01 4.91177038e-02 6.68248292e+01] [-1.68143208e-01 9.85728969e-01 -8.14005683e-03 -8.94645240e+00] [-4.97870403e-02 -2.44885725e-04 9.98759826e-01 -4.16425845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:-8.95, Z:-4.17 [[ 9.84509405e-01 1.68369542e-01 4.89175641e-02 6.68542754e+01] [-1.68174474e-01 9.85723915e-01 -8.10613687e-03 -8.95263725e+00] [-4.95840393e-02 -2.46117618e-04 9.98769925e-01 -4.16561874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.88, Y:-8.96, Z:-4.17 [[ 9.84461768e-01 1.68652784e-01 4.89005721e-02 6.68828382e+01] [-1.68458194e-01 9.85675490e-01 -8.10346604e-03 -8.95977247e+00] [-4.95667675e-02 -2.60149553e-04 9.98770778e-01 -4.16868927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.91, Y:-8.97, Z:-4.17 [[ 9.84350091e-01 1.69339193e-01 4.87763795e-02 6.69126089e+01] [-1.69146470e-01 9.85557787e-01 -8.08213583e-03 -8.96590121e+00] [-4.94405630e-02 -2.94701253e-04 9.98777024e-01 -4.17018194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:-8.97, Z:-4.17 [[ 9.84125710e-01 1.70649737e-01 4.87365818e-02 6.69413398e+01] [-1.70458927e-01 9.85331689e-01 -8.07568829e-03 -8.97221598e+00] [-4.93998125e-02 -3.60092946e-04 9.98779019e-01 -4.17133265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:-8.98, Z:-4.17 [[ 9.84011551e-01 1.71313073e-01 4.87144675e-02 6.69702465e+01] [-1.71123271e-01 9.85216563e-01 -8.07155863e-03 -8.97746198e+00] [-4.93770638e-02 -3.93672114e-04 9.98780131e-01 -4.17325893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:-8.98, Z:-4.17 [[ 9.83888554e-01 1.72054311e-01 4.85862969e-02 6.69992781e+01] [-1.71866467e-01 9.85087371e-01 -8.04915553e-03 -8.98254345e+00] [-4.92466393e-02 -4.30883209e-04 9.98786555e-01 -4.17479888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:-8.99, Z:-4.18 [[ 9.83686135e-01 1.73360792e-01 4.80377233e-02 6.70283631e+01] [-1.73178781e-01 9.84858261e-01 -7.95713790e-03 -8.98930974e+00] [-4.86898043e-02 -4.91788120e-04 9.98813827e-01 -4.17741058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:-9.00, Z:-4.18 [[ 9.83683227e-01 1.73557521e-01 4.73824512e-02 6.70577621e+01] [-1.73380726e-01 9.84823609e-01 -7.84747074e-03 -8.99559746e+00] [-4.80253442e-02 -4.95778449e-04 9.98845994e-01 -4.17943208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:-9.00, Z:-4.18 [[ 9.83634314e-01 1.73798028e-01 4.75161134e-02 6.70873934e+01] [-1.73620586e-01 9.84781186e-01 -7.86813065e-03 -9.00261049e+00] [-4.81604402e-02 -5.10412139e-04 9.98839482e-01 -4.18135257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:-9.01, Z:-4.18 [[ 9.83676610e-01 1.73363087e-01 4.82241380e-02 6.71163734e+01] [-1.73179784e-01 9.84857855e-01 -7.98552872e-03 -9.00787261e+00] [-4.88783170e-02 -4.96267969e-04 9.98804617e-01 -4.18319934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:-9.01, Z:-4.18 [[ 9.83787885e-01 1.72481174e-01 4.91084626e-02 6.71465662e+01] [-1.72290024e-01 9.85012706e-01 -8.13118068e-03 -9.01496659e+00] [-4.97749352e-02 -4.61541154e-04 9.98760353e-01 -4.18465412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:-9.02, Z:-4.19 [[ 9.83846071e-01 1.72020936e-01 4.95550804e-02 6.71763419e+01] [-1.71825715e-01 9.85093195e-01 -8.20499050e-03 -9.02091067e+00] [-5.02278026e-02 -4.42389426e-04 9.98737689e-01 -4.18622658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-9.03, Z:-4.19 [[ 9.83828199e-01 1.71955569e-01 5.01333899e-02 6.72070298e+01] [-1.71755651e-01 9.85104606e-01 -8.30125653e-03 -9.02701141e+00] [-5.08140806e-02 -4.43682748e-04 9.98708032e-01 -4.18780319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:-9.03, Z:-4.19 [[ 9.83704751e-01 1.72586704e-01 5.03864390e-02 6.72379443e+01] [-1.72385524e-01 9.84994214e-01 -8.34442640e-03 -9.03307550e+00] [-5.10704879e-02 -4.77440821e-04 9.98694937e-01 -4.18899551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:-9.04, Z:-4.19 [[ 9.83603576e-01 1.73337109e-01 4.97820442e-02 6.72678821e+01] [-1.73141621e-01 9.84862421e-01 -8.24568743e-03 -9.03812214e+00] [-5.04577481e-02 -5.08856192e-04 9.98726067e-01 -4.19074834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-9.04, Z:-4.19 [[ 9.83447772e-01 1.74379601e-01 4.92162124e-02 6.72979533e+01] [-1.74189801e-01 9.84678347e-01 -8.15270540e-03 -9.04241617e+00] [-4.98838042e-02 -5.55202289e-04 9.98754874e-01 -4.19253403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-9.05, Z:-4.19 [[ 9.83087391e-01 1.76672333e-01 4.82293235e-02 6.73276125e+01] [-1.76492836e-01 9.84269502e-01 -7.98907787e-03 -9.04618905e+00] [-4.88821013e-02 -6.58168359e-04 9.98804339e-01 -4.19499416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-9.05, Z:-4.20 [[ 9.82825054e-01 1.78308595e-01 4.75495367e-02 6.73573852e+01] [-1.78135988e-01 9.83974347e-01 -7.87751192e-03 -9.05010476e+00] [-4.81921524e-02 -7.28067598e-04 9.98837818e-01 -4.19706176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.39, Y:-9.05, Z:-4.20 [[ 9.82751461e-01 1.78776802e-01 4.73119643e-02 6.73869492e+01] [-1.78606512e-01 9.83889371e-01 -7.83700558e-03 -9.05463282e+00] [-4.79508136e-02 -7.48396251e-04 9.98849418e-01 -4.19944154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:-9.06, Z:-4.20 [[ 9.82794769e-01 1.78721456e-01 4.66163312e-02 6.74165739e+01] [-1.78556132e-01 9.83899436e-01 -7.72061954e-03 -9.05863725e+00] [-4.72456224e-02 -7.35847287e-04 9.98883031e-01 -4.20114688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:-9.06, Z:-4.20 [[ 9.82885722e-01 1.77979812e-01 4.75272960e-02 6.74457046e+01] [-1.77807146e-01 9.84033879e-01 -7.87042987e-03 -9.06076583e+00] [-4.81692471e-02 -7.14959702e-04 9.98838932e-01 -4.20287783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:-9.07, Z:-4.20 [[ 9.83039454e-01 1.77090127e-01 4.76709508e-02 6.74753225e+01] [-1.76915464e-01 9.84194407e-01 -7.89225973e-03 -9.06500305e+00] [-4.83151244e-02 -6.75325659e-04 9.98831914e-01 -4.20423447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:-9.07, Z:-4.21 [[ 9.83447462e-01 1.74651676e-01 4.82481216e-02 6.75048463e+01] [-1.74469880e-01 9.84630121e-01 -7.98662757e-03 -9.06919350e+00] [-4.89014317e-02 -5.63415375e-04 9.98803450e-01 -4.20601776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:-9.07, Z:-4.21 [[ 9.83684129e-01 1.73337968e-01 4.81610171e-02 6.75352856e+01] [-1.73155328e-01 9.84862275e-01 -7.97071293e-03 -9.07342421e+00] [-4.88135961e-02 -4.98672909e-04 9.98807781e-01 -4.20759357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:67.56, Y:-9.08, Z:-4.21 [[ 9.83889042e-01 1.72079253e-01 4.84879818e-02 6.75644274e+01] [-1.71892588e-01 9.85083011e-01 -8.02497722e-03 -9.07841177e+00] [-4.91456192e-02 -4.39037534e-04 9.98791527e-01 -4.21025603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.59, Y:-9.08, Z:-4.21 [[ 9.84100136e-01 1.70866150e-01 4.84941395e-02 6.75940241e+01] [-1.70678002e-01 9.85294177e-01 -8.02523871e-03 -9.08334708e+00] [-4.91522349e-02 -3.79244355e-04 9.98791226e-01 -4.21234767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:-9.09, Z:-4.21 [[ 9.84557653e-01 1.67964854e-01 4.93359508e-02 6.76228797e+01] [-1.67766480e-01 9.85792955e-01 -8.16440877e-03 -9.08892758e+00] [-5.00063664e-02 -2.38587634e-04 9.98748871e-01 -4.21356972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:-9.09, Z:-4.22 [[ 9.85061716e-01 1.64994684e-01 4.92967499e-02 6.76538448e+01] [-1.64792882e-01 9.86294452e-01 -8.15839283e-03 -9.09457089e+00] [-4.99672024e-02 -8.72330423e-05 9.98750855e-01 -4.21511925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:-9.10, Z:-4.22 [[ 9.85302088e-01 1.63607277e-01 4.91167421e-02 6.76839656e+01] [-1.63405205e-01 9.86525549e-01 -8.12899727e-03 -9.10027988e+00] [-4.97848841e-02 -1.64133141e-05 9.98759964e-01 -4.21715075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.72, Y:-9.11, Z:-4.22 [[ 9.85514851e-01 1.62368634e-01 4.89582010e-02 6.77151350e+01] [-1.62166056e-01 9.86730168e-01 -8.10839402e-03 -9.10610313e+00] [-4.96250827e-02 5.15843443e-05 9.98767915e-01 -4.21932141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:-9.11, Z:-4.22 [[ 9.85850200e-01 1.60566311e-01 4.81439846e-02 6.77467495e+01] [-1.60368311e-01 9.87025046e-01 -7.97271592e-03 -9.11365510e+00] [-4.87994682e-02 1.39134061e-04 9.98808587e-01 -4.22161672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:-9.12, Z:-4.22 [[ 9.85971238e-01 1.59938555e-01 4.77532832e-02 6.77782980e+01] [-1.59742589e-01 9.87126956e-01 -7.91696172e-03 -9.12148198e+00] [-4.84047805e-02 1.77663457e-04 9.98827786e-01 -4.22338799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:-9.13, Z:-4.22 [[ 9.86062453e-01 1.59323152e-01 4.79267328e-02 6.78095644e+01] [-1.59124636e-01 9.87226462e-01 -7.95385060e-03 -9.13111220e+00] [-4.85817714e-02 2.16669515e-04 9.98819185e-01 -4.22492342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:-9.14, Z:-4.23 [[ 9.85970252e-01 1.59828636e-01 4.81401096e-02 6.78420393e+01] [-1.59628526e-01 9.87144755e-01 -7.99793892e-03 -9.13692960e+00] [-4.87995564e-02 2.01195108e-04 9.98808572e-01 -4.22637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:67.87, Y:-9.14, Z:-4.23 [[ 9.85758982e-01 1.60986598e-01 4.86060136e-02 6.78742897e+01] [-1.60783522e-01 9.86956580e-01 -8.08503919e-03 -9.14294332e+00] [-4.92736079e-02 1.54853959e-04 9.98785306e-01 -4.22826880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:67.91, Y:-9.15, Z:-4.23 [[ 9.85557926e-01 1.62180704e-01 4.87133846e-02 6.79051647e+01] [-1.61977695e-01 9.86761069e-01 -8.11284325e-03 -9.14962770e+00] [-4.93842182e-02 1.05195229e-04 9.98779850e-01 -4.23009979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:67.94, Y:-9.16, Z:-4.23 [[ 9.85352110e-01 1.63501799e-01 4.84600929e-02 6.79368035e+01] [-1.63302057e-01 9.86543035e-01 -8.07951156e-03 -9.15735734e+00] [-4.91289818e-02 4.75308930e-05 9.98792441e-01 -4.23192184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:-9.17, Z:-4.23 [[ 9.84945544e-01 1.65668744e-01 4.93572957e-02 6.79679423e+01] [-1.65463700e-01 9.86181456e-01 -8.24010730e-03 -9.16618817e+00] [-5.00403780e-02 -5.07838041e-05 9.98747194e-01 -4.23312442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:-9.18, Z:-4.23 [[ 9.84528397e-01 1.67840773e-01 5.03320093e-02 6.79991868e+01] [-1.67630089e-01 9.85814105e-01 -8.40853849e-03 -9.17693796e+00] [-5.10293003e-02 -1.58714303e-04 9.98697144e-01 -4.23492917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:-9.19, Z:-4.24 [[ 9.84349002e-01 1.68841099e-01 5.04948021e-02 6.80312782e+01] [-1.68629837e-01 9.85643264e-01 -8.44601855e-03 -9.18517764e+00] [-5.11958966e-02 -2.01100300e-04 9.98688610e-01 -4.23700488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:-9.19, Z:-4.24 [[ 9.84141485e-01 1.70025302e-01 5.05661332e-02 6.80637913e+01] [-1.69814473e-01 9.85439665e-01 -8.46830099e-03 -9.19256364e+00] [-5.12696987e-02 -2.52854947e-04 9.98684812e-01 -4.23879057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:-9.20, Z:-4.24 [[ 9.83855833e-01 1.71958117e-01 4.95792926e-02 6.80946462e+01] [-1.71757389e-01 9.85104204e-01 -8.31304773e-03 -9.20015697e+00] [-5.02702656e-02 -3.36769318e-04 9.98735594e-01 -4.24144476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:-9.21, Z:-4.24 [[ 9.83687967e-01 1.73101409e-01 4.89273528e-02 6.81263193e+01] [-1.72906896e-01 9.84903933e-01 -8.21269786e-03 -9.20782898e+00] [-4.96103717e-02 -3.81144652e-04 9.98768575e-01 -4.24355651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:-9.22, Z:-4.25 [[ 9.83441797e-01 1.74442538e-01 4.91124452e-02 6.81578968e+01] [-1.74247703e-01 9.84667257e-01 -8.25415010e-03 -9.21561910e+00] [-4.97992916e-02 -4.40254559e-04 9.98759149e-01 -4.24601338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:-9.22, Z:-4.25 [[ 9.82758274e-01 1.78105173e-01 4.96459587e-02 6.81879357e+01] [-1.77910204e-01 9.84011260e-01 -8.35457873e-03 -9.22367702e+00] [-5.03401761e-02 -6.21991257e-04 9.98731936e-01 -4.24804908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:-9.23, Z:-4.25 [[ 9.82355454e-01 1.80409252e-01 4.92977068e-02 6.82205318e+01] [-1.80219734e-01 9.83591362e-01 -8.29942885e-03 -9.23017047e+00] [-4.99860923e-02 -7.31430437e-04 9.98749646e-01 -4.24937016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:-9.24, Z:-4.25 [[ 9.81521547e-01 1.84876386e-01 4.93576182e-02 6.82521401e+01] [-1.84691530e-01 9.82761324e-01 -8.31981226e-03 -9.23752588e+00] [-5.00448951e-02 -9.49859012e-04 9.98746518e-01 -4.25171450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:-9.24, Z:-4.25 [[ 9.81155728e-01 1.86804174e-01 4.93724437e-02 6.82823447e+01] [-1.86621196e-01 9.82396620e-01 -8.33124955e-03 -9.24290637e+00] [-5.00596340e-02 -1.03969126e-03 9.98745689e-01 -4.25375223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:-9.25, Z:-4.26 [[ 9.80886030e-01 1.88356078e-01 4.88322009e-02 6.83118427e+01] [-1.88178525e-01 9.82100191e-01 -8.24976469e-03 -9.24771721e+00] [-4.95120072e-02 -1.09709260e-03 9.98772926e-01 -4.25583387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-9.25, Z:-4.26 [[ 9.80622156e-01 1.89918911e-01 4.80727982e-02 6.83410956e+01] [-1.89748672e-01 9.81799098e-01 -8.12234923e-03 -9.25282910e+00] [-4.87404177e-02 -1.15679398e-03 9.98810810e-01 -4.25856853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-9.26, Z:-4.26 [[ 9.80590458e-01 1.90095524e-01 4.80213107e-02 6.83713724e+01] [-1.89925911e-01 9.81764908e-01 -8.11260423e-03 -9.25842223e+00] [-4.86878074e-02 -1.16534891e-03 9.98813366e-01 -4.26115314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-9.26, Z:-4.26 [[ 9.80768926e-01 1.89210700e-01 4.78709276e-02 6.84030296e+01] [-1.89041130e-01 9.81935874e-01 -8.08648670e-03 -9.26419469e+00] [-4.85362309e-02 -1.11859937e-03 9.98820796e-01 -4.26273501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-9.27, Z:-4.26 [[ 9.80761975e-01 1.89247148e-01 4.78692598e-02 6.84343541e+01] [-1.89077140e-01 9.81928859e-01 -8.09634702e-03 -9.26953768e+00] [-4.85364183e-02 -1.11039347e-03 9.98820796e-01 -4.26468985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.47, Y:-9.28, Z:-4.27 [[ 9.80845407e-01 1.88850317e-01 4.77267730e-02 6.84663217e+01] [-1.88680852e-01 9.82005283e-01 -8.07224171e-03 -9.27529347e+00] [-4.83923886e-02 -1.08750697e-03 9.98827810e-01 -4.26540110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:-9.28, Z:-4.27 [[ 9.80999552e-01 1.88034366e-01 4.77802969e-02 6.84970200e+01] [-1.87863132e-01 9.82161899e-01 -8.08997869e-03 -9.28044910e+00] [-4.84491811e-02 -1.03989077e-03 9.98825108e-01 -4.26767704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:-9.29, Z:-4.27 [[ 9.81290863e-01 1.86396299e-01 4.82147414e-02 6.85279384e+01] [-1.86219567e-01 9.82474172e-01 -8.17155915e-03 -9.28565964e+00] [-4.88928865e-02 -9.59851948e-04 9.98803566e-01 -4.26999265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:-9.29, Z:-4.27 [[ 9.81453960e-01 1.85500906e-01 4.83481048e-02 6.85584317e+01] [-1.85321639e-01 9.82643673e-01 -8.20374401e-03 -9.29006719e+00] [-4.90307613e-02 -9.08352959e-04 9.98796856e-01 -4.27167004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:-9.29, Z:-4.27 [[ 9.81781823e-01 1.83784470e-01 4.82464680e-02 6.85906326e+01] [-1.83603916e-01 9.82966222e-01 -8.18584813e-03 -9.29401685e+00] [-4.89290802e-02 -8.21523585e-04 9.98801917e-01 -4.27372622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:-9.30, Z:-4.28 [[ 9.81924765e-01 1.82921469e-01 4.86157544e-02 6.86212767e+01] [-1.82736655e-01 9.83127222e-01 -8.25716338e-03 -9.29955901e+00] [-4.93058840e-02 -7.75967131e-04 9.98783424e-01 -4.27554268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:-9.31, Z:-4.28 [[ 9.82105924e-01 1.81867696e-01 4.89090579e-02 6.86532544e+01] [-1.81678955e-01 9.83322746e-01 -8.31471390e-03 -9.30545178e+00] [-4.96055669e-02 -7.19816733e-04 9.98768627e-01 -4.27698372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-9.31, Z:-4.28 [[ 9.82691801e-01 1.78514552e-01 4.94912071e-02 6.86846495e+01] [-1.78316601e-01 9.83937119e-01 -8.42234407e-03 -9.31186980e+00] [-5.01997467e-02 -5.48535366e-04 9.98739047e-01 -4.27892953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:-9.32, Z:-4.28 [[ 9.83071218e-01 1.76532061e-01 4.90653877e-02 6.87165825e+01] [-1.76334594e-01 9.84294795e-01 -8.35872503e-03 -9.31778006e+00] [-4.97703887e-02 -4.34703242e-04 9.98760592e-01 -4.28074133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:-9.32, Z:-4.28 [[ 9.83443153e-01 1.74391423e-01 4.92665801e-02 6.87487929e+01] [-1.74189146e-01 9.84676358e-01 -8.40303731e-03 -9.32448340e+00] [-4.99770544e-02 -3.17793999e-04 9.98750316e-01 -4.28330634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:-9.33, Z:-4.29 [[ 9.84190102e-01 1.70136458e-01 4.92283265e-02 6.87800270e+01] [-1.69928628e-01 9.85420508e-01 -8.40738179e-03 -9.33209643e+00] [-4.99410046e-02 -9.08400151e-05 9.98752165e-01 -4.28524787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:-9.34, Z:-4.29 [[ 9.84481508e-01 1.68522375e-01 4.89527306e-02 6.88123773e+01] [-1.68314611e-01 9.85697828e-01 -8.36557075e-03 -9.33856322e+00] [-4.96623861e-02 -3.71008192e-06 9.98766062e-01 -4.28736007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:-9.35, Z:-4.29 [[ 9.85006171e-01 1.65716135e-01 4.79688070e-02 6.88432133e+01] [-1.65512848e-01 9.86173485e-01 -8.20704430e-03 -9.34680442e+00] [-4.86656052e-02 1.44535427e-04 9.98815117e-01 -4.28972734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:-9.35, Z:-4.29 [[ 9.85230151e-01 1.64538951e-01 4.74181713e-02 6.88752320e+01] [-1.64338529e-01 9.86370564e-01 -8.12146179e-03 -9.35486789e+00] [-4.81081852e-02 2.08876522e-04 9.98842109e-01 -4.29159820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:-9.36, Z:-4.29 [[ 9.85413216e-01 1.63468610e-01 4.73160337e-02 6.89065831e+01] [-1.63267312e-01 9.86548499e-01 -8.11448409e-03 -9.36280488e+00] [-4.80060254e-02 2.70958254e-04 9.98847009e-01 -4.29393235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-9.37, Z:-4.30 [[ 9.85601170e-01 1.62653884e-01 4.61957640e-02 6.89379729e+01] [-1.62460902e-01 9.86683140e-01 -7.92692191e-03 -9.37319595e+00] [-4.68699261e-02 3.07778042e-04 9.98900954e-01 -4.29561785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:68.97, Y:-9.38, Z:-4.30 [[ 9.85581565e-01 1.62871908e-01 4.58445249e-02 6.89701780e+01] [-1.62681667e-01 9.86647176e-01 -7.87567796e-03 -9.38123420e+00] [-4.65150978e-02 3.04059289e-04 9.98917541e-01 -4.29758244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:-9.39, Z:-4.30 [[ 9.85365867e-01 1.63798568e-01 4.71607635e-02 6.90001952e+01] [-1.63597801e-01 9.86493767e-01 -8.11219755e-03 -9.39256419e+00] [-4.78525655e-02 2.78085375e-04 9.98854371e-01 -4.29916648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:-9.40, Z:-4.30 [[ 9.85236076e-01 1.64538532e-01 4.72963580e-02 6.90307068e+01] [-1.64337005e-01 9.86370624e-01 -8.14500581e-03 -9.40134216e+00] [-4.79919054e-02 2.52211763e-04 9.98847693e-01 -4.30032858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.06, Y:-9.41, Z:-4.30 [[ 9.84983303e-01 1.65777102e-01 4.82270250e-02 6.90618915e+01] [-1.65568620e-01 9.86163227e-01 -8.31394019e-03 -9.41379624e+00] [-4.89379795e-02 2.04210317e-04 9.98801798e-01 -4.30209292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:-9.42, Z:-4.30 [[ 9.84781323e-01 1.66704868e-01 4.91450213e-02 6.90925599e+01] [-1.66488949e-01 9.86006824e-01 -8.48367863e-03 -9.42325268e+00] [-4.98715969e-02 1.72465335e-04 9.98755623e-01 -4.30434657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:-9.43, Z:-4.31 [[ 9.84586213e-01 1.67805908e-01 4.93068675e-02 6.91229140e+01] [-1.67589651e-01 9.85820046e-01 -8.51742978e-03 -9.43260374e+00] [-5.00369734e-02 1.22823200e-04 9.98747359e-01 -4.30607220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:-9.45, Z:-4.31 [[ 9.84083740e-01 1.70832226e-01 4.89442899e-02 6.91545942e+01] [-1.70622428e-01 9.85300132e-01 -8.46384942e-03 -9.44510688e+00] [-4.96707135e-02 -2.18570091e-05 9.98765648e-01 -4.30731786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.19, Y:-9.45, Z:-4.31 [[ 9.83714463e-01 1.72931260e-01 4.89962695e-02 6.91858924e+01] [-1.72723076e-01 9.84933889e-01 -8.48370249e-03 -9.45361546e+00] [-4.97251836e-02 -1.17245561e-04 9.98762931e-01 -4.30926237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:-9.46, Z:-4.31 [[ 9.82838692e-01 1.78084725e-01 4.81033933e-02 6.92171387e+01] [-1.77889982e-01 9.84015090e-01 -8.33411850e-03 -9.46417886e+00] [-4.88186441e-02 -3.66017643e-04 9.98807592e-01 -4.31213924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.25, Y:-9.47, Z:-4.31 [[ 9.82282524e-01 1.81190838e-01 4.78635971e-02 6.92495604e+01] [-1.81001250e-01 9.83447824e-01 -8.30214811e-03 -9.47278932e+00] [-4.85756236e-02 -5.08315914e-04 9.98819378e-01 -4.31374948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-9.48, Z:-4.32 [[ 9.81726306e-01 1.84110158e-01 4.81342956e-02 6.92816162e+01] [-1.83921444e-01 9.82905403e-01 -8.35889516e-03 -9.48080213e+00] [-4.88504168e-02 -6.46781876e-04 9.98805896e-01 -4.31571296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-9.49, Z:-4.32 [[ 9.80728947e-01 1.89327301e-01 4.82276372e-02 6.93126534e+01] [-1.89143665e-01 9.81913624e-01 -8.38500806e-03 -9.48927631e+00] [-4.89428849e-02 -8.98531919e-04 9.98801175e-01 -4.31666918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:-9.50, Z:-4.32 [[ 9.80315032e-01 1.91443397e-01 4.82893716e-02 6.93434569e+01] [-1.91261372e-01 9.81503150e-01 -8.40555393e-03 -9.49624338e+00] [-4.90053582e-02 -9.95800623e-04 9.98798019e-01 -4.31886242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:-9.50, Z:-4.32 [[ 9.79683838e-01 1.94649998e-01 4.82799656e-02 6.93754318e+01] [-1.94471681e-01 9.80872088e-01 -8.40902717e-03 -9.50402591e+00] [-4.89932878e-02 -1.15089802e-03 9.98798445e-01 -4.32070988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:-9.51, Z:-4.32 [[ 9.79482545e-01 1.95669467e-01 4.82431666e-02 6.94074683e+01] [-1.95492198e-01 9.80669179e-01 -8.41196172e-03 -9.50973332e+00] [-4.89565507e-02 -1.19179300e-03 9.98800198e-01 -4.32312190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:-9.52, Z:-4.33 [[ 9.79390981e-01 1.96181465e-01 4.80222846e-02 6.94394151e+01] [-1.96005965e-01 9.80566870e-01 -8.38301521e-03 -9.51503536e+00] [-4.87336535e-02 -1.20240474e-03 9.98811086e-01 -4.32520743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:69.47, Y:-9.52, Z:-4.33 [[ 9.79371519e-01 1.96322420e-01 4.78428224e-02 6.94715075e+01] [-1.96147983e-01 9.80538666e-01 -8.36020516e-03 -9.52095504e+00] [-4.85530330e-02 -1.19652628e-03 9.98819889e-01 -4.32766723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:-9.53, Z:-4.33 [[ 9.79785984e-01 1.94510677e-01 4.67442248e-02 6.95038141e+01] [-1.94341669e-01 9.80899815e-01 -8.17736083e-03 -9.52698420e+00] [-4.74419854e-02 -1.07228711e-03 9.98873420e-01 -4.33004797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:-9.53, Z:-4.33 [[ 9.80071513e-01 1.93163842e-01 4.63417614e-02 6.95353735e+01] [-1.92995775e-01 9.81166017e-01 -8.11657076e-03 -9.53360911e+00] [-4.70367894e-02 -9.88944384e-04 9.98892668e-01 -4.33213740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:-9.54, Z:-4.33 [[ 9.80887211e-01 1.88966195e-01 4.63902563e-02 6.95659404e+01] [-1.88792659e-01 9.81983284e-01 -8.13403438e-03 -9.54147210e+00] [-4.70915137e-02 -7.79569542e-04 9.98890275e-01 -4.33438517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:-9.55, Z:-4.34 [[ 9.81369198e-01 1.86497963e-01 4.61844919e-02 6.95978963e+01] [-1.86322831e-01 9.82455133e-01 -8.10649533e-03 -9.54777568e+00] [-4.68860359e-02 -6.49760445e-04 9.98900034e-01 -4.33577820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:-9.56, Z:-4.34 [[ 9.82239682e-01 1.81711346e-01 4.67567563e-02 6.96303015e+01] [-1.81525966e-01 9.83351826e-01 -8.21649627e-03 -9.55549508e+00] [-4.74713722e-02 -4.16996669e-04 9.98872512e-01 -4.33744237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:-9.56, Z:-4.34 [[ 9.82607224e-01 1.79590915e-01 4.72244396e-02 6.96619702e+01] [-1.79398886e-01 9.83741332e-01 -8.30849346e-03 -9.56267005e+00] [-4.79487631e-02 -3.08026195e-04 9.98849749e-01 -4.33934208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:-9.57, Z:-4.34 [[ 9.82948998e-01 1.77667460e-01 4.73871458e-02 6.96944067e+01] [-1.77471448e-01 9.84090560e-01 -8.34589397e-03 -9.56987043e+00] [-4.81160366e-02 -2.06277275e-04 9.98841731e-01 -4.34096798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.73, Y:-9.58, Z:-4.34 [[ 9.83541337e-01 1.74262878e-01 4.77376907e-02 6.97266680e+01] [-1.74059468e-01 9.84699166e-01 -8.41742677e-03 -9.57846618e+00] [-4.84741092e-02 -3.03098765e-05 9.98824439e-01 -4.34245083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:-9.59, Z:-4.34 [[ 9.83786763e-01 1.72936650e-01 4.75028344e-02 6.97579122e+01] [-1.72733221e-01 9.84932949e-01 -8.38578448e-03 -9.58549306e+00] [-4.82373162e-02 4.45061956e-05 9.98835902e-01 -4.34447976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:-9.59, Z:-4.35 [[ 9.84013957e-01 1.71876890e-01 4.66354709e-02 6.97899268e+01] [-1.71679236e-01 9.85118431e-01 -8.24112013e-03 -9.59276262e+00] [-4.73579200e-02 1.03035231e-04 9.98877979e-01 -4.34605513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:69.82, Y:-9.60, Z:-4.35 [[ 9.84200567e-01 1.70685750e-01 4.70703527e-02 6.98218000e+01] [-1.70482567e-01 9.85325502e-01 -8.32760102e-03 -9.60092929e+00] [-4.78010218e-02 1.71355086e-04 9.98856863e-01 -4.34844290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-9.61, Z:-4.35 [[ 9.84260587e-01 1.70473681e-01 4.65813252e-02 6.98538063e+01] [-1.70274026e-01 9.85362212e-01 -8.25031933e-03 -9.60787208e+00] [-4.73059400e-02 1.88874360e-04 9.98880429e-01 -4.34988519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:-9.62, Z:-4.35 [[ 9.84056070e-01 1.71688337e-01 4.64409900e-02 6.98842349e+01] [-1.71490772e-01 9.85151306e-01 -8.23526647e-03 -9.61750316e+00] [-4.71653011e-02 1.39762725e-04 9.98887088e-01 -4.35189792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-9.62, Z:-4.35 [[ 9.83795462e-01 1.73308919e-01 4.59402697e-02 6.99160914e+01] [-1.73116955e-01 9.84867511e-01 -8.15512914e-03 -9.62410104e+00] [-4.66584357e-02 6.99394467e-05 9.98910900e-01 -4.35356479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:-9.63, Z:-4.36 [[ 9.83391378e-01 1.75444815e-01 4.64813404e-02 6.99471082e+01] [-1.75250224e-01 9.84489267e-01 -8.26091222e-03 -9.63054219e+00] [-4.72097149e-02 -2.21554497e-05 9.98885000e-01 -4.35578800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-9.64, Z:-4.36 [[ 9.82976368e-01 1.77728465e-01 4.65838338e-02 6.99779749e+01] [-1.77535115e-01 9.84079559e-01 -8.28885955e-03 -9.63686319e+00] [-4.73153649e-02 -1.22513219e-04 9.98879993e-01 -4.35729581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:70.01, Y:-9.65, Z:-4.36 [[ 9.82203940e-01 1.81924587e-01 4.66783186e-02 7.00100620e+01] [-1.81734958e-01 9.83312434e-01 -8.31042320e-03 -9.64593193e+00] [-4.74112414e-02 -3.20551866e-04 9.98875403e-01 -4.36080025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:-9.65, Z:-4.36 [[ 9.81966029e-01 1.83491605e-01 4.55362453e-02 7.00416337e+01] [-1.83312417e-01 9.83021204e-01 -8.11600446e-03 -9.65219901e+00] [-4.62523134e-02 -3.77718526e-04 9.98929718e-01 -4.36242262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:-9.66, Z:-4.36 [[ 9.81713204e-01 1.84999074e-01 4.48834852e-02 7.00736593e+01] [-1.84826201e-01 9.82738599e-01 -8.00759336e-03 -9.65865197e+00] [-4.55901307e-02 -4.34483952e-04 9.98960135e-01 -4.36439430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:-9.67, Z:-4.37 [[ 9.81369932e-01 1.86721756e-01 4.52552997e-02 7.01060713e+01] [-1.86547431e-01 9.82412706e-01 -8.08273502e-03 -9.66578584e+00] [-4.59686039e-02 -5.10106755e-04 9.98942755e-01 -4.36641089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:-9.67, Z:-4.37 [[ 9.81308291e-01 1.86903270e-01 4.58389076e-02 7.01378250e+01] [-1.86724183e-01 9.82378186e-01 -8.19623478e-03 -9.67347512e+00] [-4.65630460e-02 -5.16199430e-04 9.98915220e-01 -4.36840584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264000000001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:70.17, Y:-9.68, Z:-4.37 [[ 9.81331163e-01 1.86548431e-01 4.67849567e-02 7.01698521e+01] [-1.86361021e-01 9.82445638e-01 -8.37482198e-03 -9.68159598e+00] [-4.75259865e-02 -5.00418475e-04 9.98869877e-01 -4.37098078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:-9.69, Z:-4.37 [[ 9.81689127e-01 1.84823180e-01 4.61177850e-02 7.02005580e+01] [-1.84638730e-01 9.82771708e-01 -8.26489284e-03 -9.69041865e+00] [-4.68507981e-02 -4.01573830e-04 9.98901818e-01 -4.37124942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.23, Y:-9.70, Z:-4.37 [[ 9.81830824e-01 1.83926848e-01 4.66813322e-02 7.02318030e+01] [-1.83736415e-01 9.82939871e-01 -8.37501336e-03 -9.69746818e+00] [-4.74253324e-02 -3.54214338e-04 9.98874723e-01 -4.37313869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:-9.70, Z:-4.38 [[ 9.81887785e-01 1.83413925e-01 4.74943116e-02 7.02642141e+01] [-1.83215762e-01 9.83035719e-01 -8.52986880e-03 -9.70496314e+00] [-4.82531015e-02 -3.26332523e-04 9.98835087e-01 -4.37505121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:-9.71, Z:-4.38 [[ 9.81921732e-01 1.83050482e-01 4.81895573e-02 7.02956202e+01] [-1.82845542e-01 9.83103468e-01 -8.66480148e-03 -9.71340802e+00] [-4.89614170e-02 -3.03088836e-04 9.98800625e-01 -4.37696730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:-9.72, Z:-4.38 [[ 9.81865726e-01 1.83300061e-01 4.83816524e-02 7.03283017e+01] [-1.83093340e-01 9.83056963e-01 -8.70838655e-03 -9.72061569e+00] [-4.91581681e-02 -3.07892036e-04 9.98790959e-01 -4.37860485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:-9.73, Z:-4.38 [[ 9.81662935e-01 1.84311249e-01 4.86543453e-02 7.03599236e+01] [-1.84102948e-01 9.82867865e-01 -8.76721495e-03 -9.72909858e+00] [-4.94366889e-02 -3.50958450e-04 9.98777198e-01 -4.38061211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:70.39, Y:-9.74, Z:-4.38 [[ 9.81529871e-01 1.85056046e-01 4.85115696e-02 7.03919580e+01] [-1.84849395e-01 9.82727896e-01 -8.75123397e-03 -9.73652813e+00] [-4.92931414e-02 -3.77736736e-04 9.98784283e-01 -4.38345937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:70.42, Y:-9.74, Z:-4.39 [[ 9.81514037e-01 1.85140518e-01 4.85096324e-02 7.04248377e+01] [-1.84933440e-01 9.82711988e-01 -8.76195796e-03 -9.74260227e+00] [-4.92931907e-02 -3.71068447e-04 9.98784283e-01 -4.38551761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:-9.75, Z:-4.39 [[ 9.81368837e-01 1.86038478e-01 4.80092796e-02 7.04560213e+01] [-1.85836581e-01 9.82542374e-01 -8.67453297e-03 -9.74944190e+00] [-4.87849485e-02 -4.08964066e-04 9.98809222e-01 -4.38730134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:70.49, Y:-9.76, Z:-4.39 [[ 9.80950775e-01 1.88359190e-01 4.75014915e-02 7.04884161e+01] [-1.88163847e-01 9.82100074e-01 -8.59136392e-03 -9.75662444e+00] [-4.82694806e-02 -5.10358275e-04 9.98834219e-01 -4.39002450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:-9.76, Z:-4.39 [[ 9.80609958e-01 1.90118034e-01 4.75315034e-02 7.05199352e+01] [-1.89924027e-01 9.81761065e-01 -8.60673573e-03 -9.76224030e+00] [-4.83008750e-02 -5.87523773e-04 9.98832659e-01 -4.39150886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:-9.77, Z:-4.39 [[ 9.80025993e-01 1.93143912e-01 4.73759645e-02 7.05521596e+01] [-1.92954274e-01 9.81170170e-01 -8.58748048e-03 -9.76868389e+00] [-4.81425027e-02 -7.25440764e-04 9.98840214e-01 -4.39249279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:-9.78, Z:-4.39 [[ 9.79690548e-01 1.94795457e-01 4.75516623e-02 7.05833845e+01] [-1.94605879e-01 9.80843560e-01 -8.62913642e-03 -9.77514587e+00] [-4.83216583e-02 -7.99949638e-04 9.98831506e-01 -4.39425985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-9.78, Z:-4.40 [[ 9.79441833e-01 1.96062212e-01 4.74689887e-02 7.06162385e+01] [-1.95874355e-01 9.80591088e-01 -8.62290780e-03 -9.78101817e+00] [-4.82382937e-02 -8.52320945e-04 9.98835492e-01 -4.39615271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.65, Y:-9.79, Z:-4.40 [[ 9.79160776e-01 1.97341822e-01 4.79622700e-02 7.06478529e+01] [-1.97151092e-01 9.80334314e-01 -8.72235722e-03 -9.78622173e+00] [-4.87403450e-02 -9.15223835e-04 9.98811064e-01 -4.39896048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-9.79, Z:-4.40 [[ 9.78805598e-01 1.99129217e-01 4.78242143e-02 7.06806507e+01] [-1.98941289e-01 9.79972739e-01 -8.70598992e-03 -9.78941126e+00] [-4.86000433e-02 -9.92739144e-04 9.98817826e-01 -4.40042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:70.71, Y:-9.79, Z:-4.40 [[ 9.78673005e-01 1.99600311e-01 4.85681441e-02 7.07135617e+01] [-1.99406589e-01 9.79876865e-01 -8.85110253e-03 -9.79475107e+00] [-4.93574836e-02 -1.02247283e-03 9.98780653e-01 -4.40347586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:-9.80, Z:-4.40 [[ 9.78593235e-01 1.99970078e-01 4.86543681e-02 7.07450752e+01] [-1.99775645e-01 9.79801459e-01 -8.87647860e-03 -9.79979649e+00] [-4.94466510e-02 -1.03349588e-03 9.98776231e-01 -4.40495995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:-9.80, Z:-4.41 [[ 9.78636558e-01 1.99738452e-01 4.87343628e-02 7.07774801e+01] [-1.99542657e-01 9.79848723e-01 -8.89985633e-03 -9.80368059e+00] [-4.95299467e-02 -1.01485946e-03 9.98772123e-01 -4.40655812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:-9.81, Z:-4.41 [[ 9.78709267e-01 1.99495811e-01 4.82658475e-02 7.08104351e+01] [-1.99303022e-01 9.79898185e-01 -8.82339124e-03 -9.80802960e+00] [-4.90558459e-02 -9.83994464e-04 9.98795553e-01 -4.40829182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:-9.81, Z:-4.41 [[ 9.79005063e-01 1.98105839e-01 4.79912763e-02 7.08425340e+01] [-1.97913052e-01 9.80180223e-01 -8.78378237e-03 -9.80953323e+00] [-4.87802185e-02 -8.98732566e-04 9.98809132e-01 -4.41132224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-9.81, Z:-4.41 [[ 9.79260055e-01 1.96934442e-01 4.76085125e-02 7.08743613e+01] [-1.96743086e-01 9.80416309e-01 -8.71889559e-03 -9.81377306e+00] [-4.83932129e-02 -8.28579488e-04 9.98828018e-01 -4.41354715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-9.82, Z:-4.42 [[ 9.79532723e-01 1.95583905e-01 4.75665995e-02 7.09070930e+01] [-1.95390872e-01 9.80686683e-01 -8.71995435e-03 -9.81918682e+00] [-4.83534134e-02 -7.52598730e-04 9.98830006e-01 -4.41639519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:-9.82, Z:-4.42 [[ 9.80363576e-01 1.91521062e-01 4.69780994e-02 7.09392458e+01] [-1.91327667e-01 9.81488357e-01 -8.62139153e-03 -9.82491577e+00] [-4.77596357e-02 -5.36111914e-04 9.98858714e-01 -4.41815388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.97, Y:-9.83, Z:-4.42 [[ 9.80751251e-01 1.89444147e-01 4.73064311e-02 7.09701339e+01] [-1.89245146e-01 9.81891405e-01 -8.69154097e-03 -9.83066416e+00] [-4.80963397e-02 -4.28272759e-04 9.98842610e-01 -4.42082375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:-9.84, Z:-4.42 [[ 9.81690743e-01 1.84798797e-01 4.61810522e-02 7.10027903e+01] [-1.84603546e-01 9.82776358e-01 -8.49474868e-03 -9.83549422e+00] [-4.69554656e-02 -1.85969848e-04 9.98896966e-01 -4.42214311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:-9.84, Z:-4.42 [[ 9.82052056e-01 1.82927091e-01 4.59503937e-02 7.10348337e+01] [-1.82731627e-01 9.83126477e-01 -8.45468975e-03 -9.84055816e+00] [-4.67216405e-02 -9.36447518e-05 9.98907943e-01 -4.42476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-9.85, Z:-4.43 [[ 9.82479638e-01 1.80401388e-01 4.67878126e-02 7.10662228e+01] [-1.80195395e-01 9.83593075e-01 -8.61868347e-03 -9.84522079e+00] [-4.75749910e-02 3.67326331e-05 9.98867668e-01 -4.42678672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.10, Y:-9.85, Z:-4.43 [[ 9.82491494e-01 1.80219316e-01 4.72383484e-02 7.10976773e+01] [-1.80008683e-01 9.83626451e-01 -8.71085093e-03 -9.85206774e+00] [-4.80347526e-02 5.50240522e-05 9.98845664e-01 -4.42912626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:-9.86, Z:-4.43 [[ 9.82425843e-01 1.80636026e-01 4.70115914e-02 7.11298750e+01] [-1.80427493e-01 9.83550011e-01 -8.67728809e-03 -9.85846168e+00] [-4.78056820e-02 4.26084678e-05 9.98856654e-01 -4.43072578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:71.16, Y:-9.86, Z:-4.43 [[ 9.82248583e-01 1.81605270e-01 4.69813473e-02 7.11613222e+01] [-1.81397647e-01 9.83371510e-01 -8.68146098e-03 -9.86486805e+00] [-4.77767175e-02 5.04690049e-06 9.98858041e-01 -4.43237758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-9.87, Z:-4.43 [[ 9.81793044e-01 1.84029942e-01 4.70680218e-02 7.11925546e+01] [-1.83823865e-01 9.82920632e-01 -8.70730168e-03 -9.86882175e+00] [-4.78665340e-02 -1.03457451e-04 9.98853735e-01 -4.43466181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:-9.87, Z:-4.44 [[ 9.81511337e-01 1.85508369e-01 4.71395753e-02 7.12252456e+01] [-1.85303134e-01 9.82642669e-01 -8.72541746e-03 -9.87435291e+00] [-4.79399961e-02 -1.71014858e-04 9.98850203e-01 -4.43671925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:-9.88, Z:-4.44 [[ 9.80983868e-01 1.88197178e-01 4.74602239e-02 7.12568850e+01] [-1.87991795e-01 9.82131221e-01 -8.79485472e-03 -9.87999124e+00] [-4.82673345e-02 -2.94522072e-04 9.98834410e-01 -4.43865697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:-9.89, Z:-4.44 [[ 9.80779523e-01 1.89282807e-01 4.73660784e-02 7.12885221e+01] [-1.89079062e-01 9.81922555e-01 -8.78657584e-03 -9.88598514e+00] [-4.81729685e-02 -3.38240008e-04 9.98838951e-01 -4.44090082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:71.32, Y:-9.89, Z:-4.44 [[ 9.80578246e-01 1.90320926e-01 4.73734975e-02 7.13213828e+01] [-1.90117902e-01 9.81721855e-01 -8.79676782e-03 -9.89208723e+00] [-4.81818069e-02 -3.80630797e-04 9.98838510e-01 -4.44214803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:-9.90, Z:-4.45 [[ 9.80278817e-01 1.91708996e-01 4.79698096e-02 7.13538803e+01] [-1.91502022e-01 9.81451712e-01 -8.91700647e-03 -9.89709834e+00] [-4.87895221e-02 -4.45162958e-04 9.98808983e-01 -4.44528544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-9.90, Z:-4.45 [[ 9.80095458e-01 1.92525601e-01 4.84436472e-02 7.13859571e+01] [-1.92315019e-01 9.81291833e-01 -9.01508249e-03 -9.90324368e+00] [-4.92729895e-02 -4.80799539e-04 9.98785233e-01 -4.44694842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:-9.91, Z:-4.45 [[ 9.79698061e-01 1.94359942e-01 4.91520261e-02 7.14177207e+01] [-1.94144939e-01 9.80930113e-01 -9.15729874e-03 -9.90818570e+00] [-4.99945145e-02 -5.71229273e-04 9.98749329e-01 -4.44906673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:-9.91, Z:-4.45 [[ 9.79482660e-01 1.95394710e-01 4.93419309e-02 7.14506975e+01] [-1.95178885e-01 9.80724490e-01 -9.20199658e-03 -9.91377636e+00] [-5.01888615e-02 -6.17306959e-04 9.98739554e-01 -4.45093219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:-9.92, Z:-4.45 [[ 9.79303627e-01 1.96288730e-01 4.93471453e-02 7.14831849e+01] [-1.96073498e-01 9.80545923e-01 -9.21280220e-03 -9.91948358e+00] [-5.01955114e-02 -6.53536818e-04 9.98739197e-01 -4.45345506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:-9.93, Z:-4.46 [[ 9.79094362e-01 1.97425329e-01 4.89639747e-02 7.15148072e+01] [-1.97214348e-01 9.80317680e-01 -9.15129875e-03 -9.92504923e+00] [-4.98069482e-02 -6.96413345e-04 9.98758621e-01 -4.45558313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-9.93, Z:-4.46 [[ 9.79020115e-01 1.97815520e-01 4.88736645e-02 7.15472848e+01] [-1.97605348e-01 9.80239012e-01 -9.14356321e-03 -9.93022353e+00] [-4.97166113e-02 -7.05965182e-04 9.98763115e-01 -4.45783564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-9.93, Z:-4.46 [[ 9.78978100e-01 1.98120173e-01 4.84796456e-02 7.15793406e+01] [-1.97913268e-01 9.80177483e-01 -9.07963863e-03 -9.93429998e+00] [-4.93175166e-02 -7.05997715e-04 9.98782901e-01 -4.46072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-9.94, Z:-4.46 [[ 9.79004795e-01 1.98019580e-01 4.83513846e-02 7.16117585e+01] [-1.97813211e-01 9.80197821e-01 -9.06446632e-03 -9.94050765e+00] [-4.91888637e-02 -6.90386641e-04 9.98789257e-01 -4.46281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-9.95, Z:-4.46 [[ 9.78993559e-01 1.98076130e-01 4.83472651e-02 7.16429165e+01] [-1.97869386e-01 9.80186400e-01 -9.07341949e-03 -9.94694024e+00] [-4.91865596e-02 -6.83624422e-04 9.98789375e-01 -4.46468887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:71.68, Y:-9.95, Z:-4.47 [[ 9.78954740e-01 1.98282239e-01 4.82884055e-02 7.16752544e+01] [-1.98075772e-01 9.80144727e-01 -9.07204084e-03 -9.95375273e+00] [-4.91284506e-02 -6.83645827e-04 9.98792235e-01 -4.46541558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264000000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:71.71, Y:-9.96, Z:-4.47 [[ 9.78876593e-01 1.98628402e-01 4.84497115e-02 7.17081922e+01] [-1.98420509e-01 9.80074628e-01 -9.11181132e-03 -9.95918333e+00] [-4.92941975e-02 -6.94077626e-04 9.98784061e-01 -4.46747334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:-9.96, Z:-4.47 [[ 9.78758033e-01 1.99034335e-01 4.91736376e-02 7.17415795e+01] [-1.98820179e-01 9.79992256e-01 -9.25820645e-03 -9.96156401e+00] [-5.00324850e-02 -7.15167490e-04 9.98747335e-01 -4.47190906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:-9.97, Z:-4.47 [[ 9.78608508e-01 1.99687345e-01 4.95010396e-02 7.17727766e+01] [-1.99470634e-01 9.79859384e-01 -9.33028540e-03 -9.96637053e+00] [-5.03671981e-02 -7.43307110e-04 9.98730491e-01 -4.47388074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-9.97, Z:-4.48 [[ 9.78494950e-01 2.00110502e-01 5.00341784e-02 7.18051165e+01] [-1.99889156e-01 9.79773037e-01 -9.44043867e-03 -9.97190008e+00] [-5.09112698e-02 -7.63868108e-04 9.98702888e-01 -4.47588889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-9.98, Z:-4.48 [[ 9.78278629e-01 2.00992229e-01 5.07252220e-02 7.18370424e+01] [-2.00765348e-01 9.79592501e-01 -9.58163799e-03 -9.97672877e+00] [-5.16158818e-02 -8.10355166e-04 9.98666683e-01 -4.47789924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-9.98, Z:-4.48 [[ 9.78127675e-01 2.01681719e-01 5.08992662e-02 7.18691118e+01] [-2.01453705e-01 9.79450753e-01 -9.62425586e-03 -9.98203343e+00] [-5.17943611e-02 -8.40094769e-04 9.98657418e-01 -4.48014995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:-9.99, Z:-4.48 [[ 9.77966757e-01 2.02445286e-01 5.09600629e-02 7.19009238e+01] [-2.02217187e-01 9.79293188e-01 -9.64683862e-03 -9.98722637e+00] [-5.18577995e-02 -8.70713078e-04 9.98654100e-01 -4.48260654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:-9.99, Z:-4.49 [[ 9.77774361e-01 2.03284089e-01 5.13115736e-02 7.19333415e+01] [-2.03053676e-01 9.79119370e-01 -9.71926483e-03 -9.99244995e+00] [-5.22159275e-02 -9.15755701e-04 9.98635398e-01 -4.48544313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:71.97, Y:-10.00, Z:-4.48 [[ 9.77514087e-01 2.04524857e-01 5.13399734e-02 7.19666139e+01] [-2.04295364e-01 9.78860887e-01 -9.73484685e-03 -9.99600161e+00] [-5.22457101e-02 -9.72568640e-04 9.98633787e-01 -4.48491678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.00, Y:-10.00, Z:-4.49 [[ 9.77389294e-01 2.04988011e-01 5.18660098e-02 7.19981852e+01] [-2.04753877e-01 9.78763976e-01 -9.84523656e-03 -9.99937279e+00] [-5.27827375e-02 -9.97137799e-04 9.98605522e-01 -4.48814758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:-10.00, Z:-4.49 [[ 9.77216192e-01 2.05651150e-01 5.24987435e-02 7.20314813e+01] [-2.05411696e-01 9.78624816e-01 -9.97515864e-03 -1.00024212e+01] [-5.34279761e-02 -1.03596942e-03 9.98571168e-01 -4.49255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:-10.01, Z:-4.50 [[ 9.77220791e-01 2.05890005e-01 5.14667985e-02 7.20635492e+01] [-2.05659655e-01 9.78574611e-01 -9.78963135e-03 -1.00064601e+01] [-5.23796895e-02 -1.01801274e-03 9.98626723e-01 -4.49510080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-10.01, Z:-4.50 [[ 9.77246582e-01 2.05786430e-01 5.13912675e-02 7.20954138e+01] [-2.05556093e-01 9.78596415e-01 -9.78519320e-03 -1.00106593e+01] [-5.23049701e-02 -1.00124156e-03 9.98630656e-01 -4.49753842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:-10.01, Z:-4.50 [[ 9.77286144e-01 2.05543195e-01 5.16118875e-02 7.21278847e+01] [-2.05310024e-01 9.78647551e-01 -9.83693662e-03 -1.00148711e+01] [-5.25317627e-02 -9.82935977e-04 9.98618770e-01 -4.49999487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-10.02, Z:-4.50 [[ 9.77567255e-01 2.04398687e-01 5.08275309e-02 7.21598056e+01] [-2.04170478e-01 9.78887313e-01 -9.69764509e-03 -1.00174059e+01] [-5.17366111e-02 -8.97381002e-04 9.98660362e-01 -4.50241185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:-10.02, Z:-4.50 [[ 9.77742065e-01 2.03601074e-01 5.06661295e-02 7.21924323e+01] [-2.03372757e-01 9.79053569e-01 -9.67626033e-03 -1.00224642e+01] [-5.15749519e-02 -8.43223699e-04 9.98668771e-01 -4.50484166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:-10.03, Z:-4.51 [[ 9.78006889e-01 2.02014651e-01 5.18903261e-02 7.22244668e+01] [-2.01772320e-01 9.79382200e-01 -9.92158195e-03 -1.00256229e+01] [-5.28247666e-02 -7.66655980e-04 9.98603503e-01 -4.50646703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-10.03, Z:-4.51 [[ 9.78134487e-01 2.01254201e-01 5.24373092e-02 7.22563339e+01] [-2.01005304e-01 9.79538778e-01 -1.00324470e-02 -1.00301772e+01] [-5.33834499e-02 -7.27094848e-04 9.98573822e-01 -4.50894929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-10.04, Z:-4.51 [[ 9.78279751e-01 2.00543333e-01 5.24509304e-02 7.22893517e+01] [-2.00292776e-01 9.79684597e-01 -1.00445658e-02 -1.00354725e+01] [-5.33997393e-02 -6.79147168e-04 9.98572985e-01 -4.51055134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-10.04, Z:-4.51 [[ 9.78364985e-01 2.00027482e-01 5.28295594e-02 7.23217088e+01] [-1.99771979e-01 9.79790074e-01 -1.01275117e-02 -1.00407233e+01] [-5.37876586e-02 -6.45462757e-04 9.98552188e-01 -4.51254519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-10.04, Z:-4.51 [[ 9.78526554e-01 1.99337720e-01 5.24428923e-02 7.23536221e+01] [-1.99084390e-01 9.79930672e-01 -1.00639593e-02 -1.00427454e+01] [-5.33965254e-02 -5.92709805e-04 9.98573212e-01 -4.51445161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:-10.05, Z:-4.52 [[ 9.78508598e-01 1.99443196e-01 5.23768587e-02 7.23865827e+01] [-1.99190133e-01 9.79909213e-01 -1.00610829e-02 -1.00469160e+01] [-5.33311809e-02 -5.88097256e-04 9.98576707e-01 -4.51702862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:-10.05, Z:-4.52 [[ 9.78469924e-01 1.99517403e-01 5.28148986e-02 7.24198099e+01] [-1.99259640e-01 9.79894107e-01 -1.01555114e-02 -1.00488918e+01] [-5.37792092e-02 -5.87015205e-04 9.98552679e-01 -4.51938579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-10.05, Z:-4.52 [[ 9.78439221e-01 1.99578422e-01 5.31520860e-02 7.24525808e+01] [-1.99316862e-01 9.79881683e-01 -1.02311224e-02 -1.00530591e+01] [-5.41246668e-02 -5.83575528e-04 9.98534015e-01 -4.52156881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:-10.06, Z:-4.52 [[ 9.78422226e-01 1.99662290e-01 5.31499534e-02 7.24853939e+01] [-1.99400251e-01 9.79864602e-01 -1.02421887e-02 -1.00595191e+01] [-5.41247368e-02 -5.76928956e-04 9.98534015e-01 -4.52362653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:-10.06, Z:-4.53 [[ 9.78338611e-01 1.99982176e-01 5.34854306e-02 7.25174121e+01] [-1.99717072e-01 9.79799355e-01 -1.03109169e-02 -1.00630416e+01] [-5.44669901e-02 -5.94385492e-04 9.98515395e-01 -4.52562705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-10.07, Z:-4.53 [[ 9.78132584e-01 2.00843567e-01 5.40232258e-02 7.25500831e+01] [-2.00573852e-01 9.79623118e-01 -1.04248089e-02 -1.00651950e+01] [-5.50161567e-02 -6.38801238e-04 9.98485260e-01 -4.52759549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-10.07, Z:-4.53 [[ 9.78032467e-01 2.01178415e-01 5.45869829e-02 7.25828124e+01] [-2.00902955e-01 9.79554398e-01 -1.05444241e-02 -1.00702032e+01] [-5.55922297e-02 -6.53897034e-04 9.98453342e-01 -4.52968310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:-10.07, Z:-4.53 [[ 9.77873182e-01 2.01865864e-01 5.49018450e-02 7.26157633e+01] [-2.01587683e-01 9.79412937e-01 -1.06162194e-02 -1.00719545e+01] [-5.59146296e-02 -6.86219476e-04 9.98435318e-01 -4.53127499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:-10.07, Z:-4.53 [[ 9.77846081e-01 2.02108152e-01 5.44916240e-02 7.26474899e+01] [-2.01833872e-01 9.79362970e-01 -1.05480182e-02 -1.00748010e+01] [-5.54989192e-02 -6.83917243e-04 9.98458513e-01 -4.53319161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:-10.08, Z:-4.54 [[ 9.77930853e-01 2.01823126e-01 5.40247374e-02 7.26799596e+01] [-2.01552762e-01 9.79421766e-01 -1.04636988e-02 -1.00779561e+01] [-5.50248201e-02 -6.56061161e-04 9.98484771e-01 -4.53556216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:-10.08, Z:-4.54 [[ 9.78052888e-01 2.01124646e-01 5.44189800e-02 7.27126131e+01] [-2.00848605e-01 9.79565467e-01 -1.05514546e-02 -1.00794750e+01] [-5.54291111e-02 -6.10095570e-04 9.98462439e-01 -4.53776055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:-10.08, Z:-4.54 [[ 9.78241595e-01 2.00253078e-01 5.42410012e-02 7.27428083e+01] [-1.99976866e-01 9.79744051e-01 -1.05284509e-02 -1.00819866e+01] [-5.52506529e-02 -5.47576802e-04 9.98472366e-01 -4.53964987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:-10.08, Z:-4.54 [[ 9.78597574e-01 1.98565131e-01 5.40247818e-02 7.27755010e+01] [-1.98288577e-01 9.80087591e-01 -1.04859381e-02 -1.00840553e+01] [-5.50311599e-02 -4.50983523e-04 9.98484536e-01 -4.54187679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-10.10, Z:-4.54 [[ 9.78901467e-01 1.96861594e-01 5.47487969e-02 7.28058511e+01] [-1.97289008e-01 9.80342282e-01 2.46132951e-03 -1.00962868e+01] [-5.31880192e-02 -1.32107349e-02 9.98497126e-01 -4.53784361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.84, Y:-10.08, Z:-4.54 [[ 9.79148042e-01 1.96497725e-01 5.15534181e-02 7.28393478e+01] [-1.95528558e-01 9.80422055e-01 -2.32632195e-02 -1.00823540e+01] [-5.51152778e-02 1.26979703e-02 9.98399253e-01 -4.54337213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:-10.09, Z:-4.55 [[ 9.79296500e-01 1.95021503e-01 5.42676487e-02 7.28690412e+01] [-1.94735749e-01 9.80798940e-01 -1.05559280e-02 -1.00918581e+01] [-5.52842853e-02 -2.30467911e-04 9.98470628e-01 -4.54761349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:-10.10, Z:-4.55 [[ 9.79388588e-01 1.94476759e-01 5.45599199e-02 7.28995511e+01] [-1.94186991e-01 9.80907106e-01 -1.06142301e-02 -1.00951513e+01] [-5.55824342e-02 -1.99370806e-04 9.98454082e-01 -4.55000178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.93, Y:-10.10, Z:-4.55 [[ 9.79637513e-01 1.93341211e-01 5.41250346e-02 7.29310307e+01] [-1.93054283e-01 9.81131570e-01 -1.05302209e-02 -1.00977050e+01] [-5.51397059e-02 -1.33270349e-04 9.98478640e-01 -4.55107414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:-10.10, Z:-4.55 [[ 9.79712599e-01 1.92883817e-01 5.43972155e-02 7.29616451e+01] [-1.92593205e-01 9.81221597e-01 -1.05846895e-02 -1.01008774e+01] [-5.54173380e-02 -1.06580445e-04 9.98463273e-01 -4.55488720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-10.10, Z:-4.56 [[ 9.79988064e-01 1.91692171e-01 5.36424008e-02 7.29934002e+01] [-1.91407798e-01 9.81455098e-01 -1.04376490e-02 -1.01024325e+01] [-5.46484233e-02 -3.88024176e-05 9.98505658e-01 -4.55725344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:-10.11, Z:-4.56 [[ 9.80170840e-01 1.90825006e-01 5.33941988e-02 7.30224228e+01] [-1.90541888e-01 9.81624071e-01 -1.03909554e-02 -1.01059136e+01] [-5.43958849e-02 1.10800271e-05 9.98519448e-01 -4.55961789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:-10.11, Z:-4.56 [[ 9.80288703e-01 1.89940961e-01 5.43736171e-02 7.30525632e+01] [-1.89812345e-01 9.81791224e-01 -7.56747547e-03 -1.01119258e+01] [-5.48209136e-02 -2.90247302e-03 9.98491984e-01 -4.56172454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-10.11, Z:-4.56 [[ 9.80630462e-01 1.88269274e-01 5.40238644e-02 7.30821111e+01] [-1.87884029e-01 9.82115828e-01 -1.21692795e-02 -1.01127747e+01] [-5.53487937e-02 1.78334487e-03 9.98465488e-01 -4.56327369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-10.12, Z:-4.56 [[ 9.80858642e-01 1.86916972e-01 5.45744414e-02 7.31129003e+01] [-1.86549094e-01 9.82374721e-01 -1.18043866e-02 -1.01178625e+01] [-5.58189919e-02 1.39762206e-03 9.98439926e-01 -4.56487841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:-10.12, Z:-4.57 [[ 9.81208055e-01 1.85258952e-01 5.39432391e-02 7.31428768e+01] [-1.84961103e-01 9.82689682e-01 -1.05061676e-02 -1.01236209e+01] [-5.49558260e-02 3.31335338e-04 9.98488732e-01 -4.56682628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:-10.14, Z:-4.56 [[ 9.81423617e-01 1.83863944e-01 5.47880865e-02 7.31732725e+01] [-1.84357800e-01 9.82850825e-01 4.05690301e-03 -1.01370779e+01] [-5.31025978e-02 -1.40821515e-02 9.98489763e-01 -4.56267280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.21, Y:-10.13, Z:-4.57 [[ 9.81307702e-01 1.85290551e-01 5.19865925e-02 7.32067423e+01] [-1.84207363e-01 9.82570730e-01 -2.49481251e-02 -1.01262371e+01] [-5.57031559e-02 1.49054743e-02 9.98336108e-01 -4.56912912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:-10.14, Z:-4.57 [[ 9.81286908e-01 1.83742174e-01 5.75744564e-02 7.32337825e+01] [-1.83700971e-01 9.82963537e-01 -6.05301143e-03 -1.01415813e+01] [-5.77057848e-02 -4.63674268e-03 9.98322865e-01 -4.57338539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:-10.14, Z:-4.57 [[ 9.81407907e-01 1.84200857e-01 5.39311007e-02 7.32659321e+01] [-1.83620545e-01 9.82873925e-01 -1.55673478e-02 -1.01415508e+01] [-5.58749914e-02 5.37506011e-03 9.98423304e-01 -4.57418807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:-10.15, Z:-4.58 [[ 9.81349023e-01 1.84630342e-01 5.35325308e-02 7.32949680e+01] [-1.84335166e-01 9.82807963e-01 -1.04429188e-02 -1.01492689e+01] [-5.45402772e-02 3.80220197e-04 9.98511499e-01 -4.57686598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-10.16, Z:-4.58 [[ 9.81288081e-01 1.85133874e-01 5.29070050e-02 7.33241615e+01] [-1.84846287e-01 9.82713248e-01 -1.03209847e-02 -1.01554701e+01] [-5.39031786e-02 3.48195859e-04 9.98546106e-01 -4.57957315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-10.17, Z:-4.58 [[ 9.81213704e-01 1.84766147e-01 5.55080026e-02 7.33506821e+01] [-1.85371930e-01 9.82650566e-01 5.92560937e-03 -1.01711032e+01] [-5.34501182e-02 -1.61039147e-02 9.98440659e-01 -4.57665705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-10.16, Z:-4.58 [[ 9.80980801e-01 1.87463868e-01 5.03385262e-02 7.33839745e+01] [-1.86340027e-01 9.82135847e-01 -2.62025068e-02 -1.01588987e+01] [-5.43512944e-02 1.63240737e-02 9.98388432e-01 -4.58264108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:73.41, Y:-10.17, Z:-4.58 [[ 9.80898961e-01 1.86802970e-01 5.42390907e-02 7.34121178e+01] [-1.86503340e-01 9.82397365e-01 -1.05793323e-02 -1.01736966e+01] [-5.52605905e-02 2.61484474e-04 9.98471932e-01 -4.58437868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:-10.18, Z:-4.59 [[ 9.80649204e-01 1.87612106e-01 5.59360003e-02 7.34413241e+01] [-1.87294729e-01 9.82243172e-01 -1.09103743e-02 -1.01793859e+01] [-5.69896726e-02 2.22731802e-04 9.98374743e-01 -4.58686510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.47, Y:-10.19, Z:-4.59 [[ 9.80618477e-01 1.87771272e-01 5.59406058e-02 7.34707520e+01] [-1.87454146e-01 9.82212759e-01 -1.09105122e-02 -1.01862825e+01] [-5.69942575e-02 2.12751378e-04 9.98374484e-01 -4.58806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:-10.19, Z:-4.59 [[ 9.80599400e-01 1.87887275e-01 5.58854982e-02 7.34987851e+01] [-1.87570958e-01 9.82190577e-01 -1.08998229e-02 -1.01946090e+01] [-5.69381478e-02 2.05863369e-04 9.98377687e-01 -4.59096486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:-10.20, Z:-4.59 [[ 9.80680178e-01 1.87677336e-01 5.51688810e-02 7.35287342e+01] [-1.87368803e-01 9.82230712e-01 -1.07591906e-02 -1.02023440e+01] [-5.62078255e-02 2.14397793e-04 9.98419068e-01 -4.59346803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:-10.21, Z:-4.60 [[ 9.80847565e-01 1.87348356e-01 5.32789575e-02 7.35585683e+01] [-1.87060063e-01 9.82293511e-01 -1.03918504e-02 -1.02105927e+01] [-5.42824703e-02 2.26456010e-04 9.98525594e-01 -4.59553649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:-10.22, Z:-4.60 [[ 9.80845321e-01 1.87360182e-01 5.32786901e-02 7.35889371e+01] [-1.87071832e-01 9.82291255e-01 -1.03932211e-02 -1.02165215e+01] [-5.42824672e-02 2.27200134e-04 9.98525594e-01 -4.59745410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:-10.22, Z:-4.60 [[ 9.80535167e-01 1.88686555e-01 5.42970492e-02 7.36181110e+01] [-1.88389061e-01 9.82037351e-01 -1.05925661e-02 -1.02246165e+01] [-5.53204052e-02 1.57413462e-04 9.98468641e-01 -4.59969220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-10.23, Z:-4.60 [[ 9.80310917e-01 1.89800003e-01 5.44652593e-02 7.36471675e+01] [-1.89502336e-01 9.81822769e-01 -1.06261359e-02 -1.02323632e+01] [-5.54920724e-02 9.56231843e-05 9.98459123e-01 -4.60160963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:73.68, Y:-10.24, Z:-4.60 [[ 9.79801654e-01 1.92392743e-01 5.45321105e-02 7.36768796e+01] [-1.92098363e-01 9.81318007e-01 -1.06390238e-02 -1.02424927e+01] [-5.55602129e-02 -5.13960342e-05 9.98455337e-01 -4.60193728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.25, Z:-4.60 [[ 9.79423077e-01 1.94044391e-01 5.54726188e-02 7.37062273e+01] [-1.93742324e-01 9.80992739e-01 -1.08239946e-02 -1.02489347e+01] [-5.65185717e-02 -1.46123959e-04 9.98401537e-01 -4.60464122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.74, Y:-10.26, Z:-4.61 [[ 9.78913150e-01 1.96403713e-01 5.61660609e-02 7.37375267e+01] [-1.96097922e-01 9.80523075e-01 -1.09592586e-02 -1.02585274e+01] [-5.72245578e-02 -2.85885433e-04 9.98361291e-01 -4.60591506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.27, Z:-4.61 [[ 9.78717314e-01 1.97464371e-01 5.58591297e-02 7.37675028e+01] [-1.97163055e-01 9.80310007e-01 -1.09096436e-02 -1.02668457e+01] [-5.69135297e-02 -3.35899581e-04 9.98379055e-01 -4.60934655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:-10.28, Z:-4.61 [[ 9.78512016e-01 1.98664640e-01 5.51959686e-02 7.37980066e+01] [-1.98372021e-01 9.80067449e-01 -1.07859442e-02 -1.02758716e+01] [-5.62385579e-02 -3.95159815e-04 9.98417282e-01 -4.61187132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.28, Z:-4.61 [[ 9.78371804e-01 1.99333101e-01 5.52714056e-02 7.38272337e+01] [-1.99040665e-01 9.79931695e-01 -1.08021399e-02 -1.02826022e+01] [-5.63154262e-02 -4.32748277e-04 9.98412933e-01 -4.61409201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:-10.29, Z:-4.62 [[ 9.78024214e-01 2.01087629e-01 5.50672604e-02 7.38572656e+01] [-2.00800094e-01 9.79573113e-01 -1.07628509e-02 -1.02923718e+01] [-5.61066839e-02 -5.31182237e-04 9.98424638e-01 -4.61728783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:-10.30, Z:-4.62 [[ 9.77835010e-01 2.02125827e-01 5.46245721e-02 7.38883583e+01] [-2.01844494e-01 9.79359386e-01 -1.06767614e-02 -1.03000650e+01] [-5.56551366e-02 -5.85557952e-04 9.98449880e-01 -4.61896269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:-10.31, Z:-4.62 [[ 9.77579704e-01 2.03534408e-01 5.39598686e-02 7.39187174e+01] [-2.03261451e-01 9.79067580e-01 -1.05573121e-02 -1.03068004e+01] [-5.49791342e-02 -6.47347176e-04 9.98487294e-01 -4.62058958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-10.31, Z:-4.62 [[ 9.77244257e-01 2.05029677e-01 5.43736521e-02 7.39484590e+01] [-2.04754745e-01 9.78755480e-01 -1.06397397e-02 -1.03123938e+01] [-5.53999723e-02 -7.35638810e-04 9.98463971e-01 -4.62289976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:-10.32, Z:-4.63 [[ 9.76562674e-01 2.07913404e-01 5.56539300e-02 7.39761925e+01] [-2.07629984e-01 9.78146804e-01 -1.08912296e-02 -1.03169957e+01] [-5.67021464e-02 -9.19456288e-04 9.98390716e-01 -4.62526129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-10.32, Z:-4.63 [[ 9.76308701e-01 2.09161965e-01 5.54309726e-02 7.40057621e+01] [-2.08882947e-01 9.77880510e-01 -1.08453875e-02 -1.03231286e+01] [-5.64733103e-02 -9.90138721e-04 9.98403618e-01 -4.62682008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:-10.33, Z:-4.63 [[ 9.75923834e-01 2.11122597e-01 5.47715129e-02 7.40355159e+01] [-2.10853265e-01 9.77458981e-01 -1.07163604e-02 -1.03292597e+01] [-5.57993730e-02 -1.09040076e-03 9.98441406e-01 -4.62980761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.06, Y:-10.34, Z:-4.63 [[ 9.75772640e-01 2.11106972e-01 5.74595705e-02 7.40630087e+01] [-2.11230815e-01 9.77428110e-01 -3.97911741e-03 -1.03382650e+01] [-5.70026188e-02 -8.25451800e-03 9.98339904e-01 -4.63208157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-10.33, Z:-4.63 [[ 9.75569549e-01 2.13081286e-01 5.34828977e-02 7.40931723e+01] [-2.12415707e-01 9.77015413e-01 -1.79011351e-02 -1.03343164e+01] [-5.60680123e-02 6.10319480e-03 9.98408298e-01 -4.63423225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-10.34, Z:-4.64 [[ 9.75516707e-01 2.12590556e-01 5.63241507e-02 7.41219303e+01] [-2.12308254e-01 9.77140621e-01 -1.10186920e-02 -1.03430629e+01] [-5.73790854e-02 -1.20916394e-03 9.98351731e-01 -4.63578287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-10.35, Z:-4.64 [[ 9.75429169e-01 2.12612108e-01 5.77410487e-02 7.41502948e+01] [-2.12315537e-01 9.77135890e-01 -1.12944496e-02 -1.03471906e+01] [-5.88221878e-02 -1.24238618e-03 9.98267703e-01 -4.63735201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-10.35, Z:-4.64 [[ 9.75443199e-01 2.12570747e-01 5.76562463e-02 7.41801605e+01] [-2.12275107e-01 9.77144892e-01 -1.12756358e-02 -1.03512784e+01] [-5.87353769e-02 -1.24024355e-03 9.98272817e-01 -4.63914713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:-10.36, Z:-4.64 [[ 9.75682481e-01 2.11963139e-01 5.58150848e-02 7.42109038e+01] [-2.11756995e-01 9.77274705e-01 -9.65016410e-03 -1.03557759e+01] [-5.65921497e-02 -2.40373856e-03 9.98394486e-01 -4.64162964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:-10.36, Z:-4.64 [[ 9.75710746e-01 2.11800968e-01 5.59364895e-02 7.42402901e+01] [-2.11449441e-01 9.77312818e-01 -1.21979196e-02 -1.03591627e+01] [-5.72509794e-02 7.39017479e-05 9.98359815e-01 -4.64495346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.27, Y:-10.36, Z:-4.65 [[ 9.75907786e-01 2.11033083e-01 5.53988307e-02 7.42704439e+01] [-2.10757593e-01 9.77478299e-01 -1.08356631e-02 -1.03638319e+01] [-5.64378382e-02 -1.10111627e-03 9.98405508e-01 -4.64576993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:-10.37, Z:-4.65 [[ 9.76024649e-01 2.10463331e-01 5.55073960e-02 7.42998128e+01] [-2.10185832e-01 9.77601167e-01 -1.08570258e-02 -1.03654075e+01] [-5.65491009e-02 -1.07014340e-03 9.98399246e-01 -4.64960636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.37, Z:-4.65 [[ 9.76562164e-01 2.07875418e-01 5.58045780e-02 7.43292851e+01] [-2.07590797e-01 9.78154871e-01 -1.09137219e-02 -1.03683663e+01] [-5.68542143e-02 -9.26588878e-04 9.98382061e-01 -4.65067310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:-10.38, Z:-4.65 [[ 9.76881019e-01 2.05281194e-01 5.96917659e-02 7.43584237e+01] [-2.05427777e-01 9.78665144e-01 -3.73675003e-03 -1.03775727e+01] [-5.91853353e-02 -8.61198662e-03 9.98209863e-01 -4.65483660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:-10.38, Z:-4.66 [[ 9.76882940e-01 2.05691100e-01 5.82313689e-02 7.43880377e+01] [-2.05362997e-01 9.78616786e-01 -1.16286885e-02 -1.03784963e+01] [-5.93781128e-02 -5.98700985e-04 9.98235384e-01 -4.65648825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:-10.38, Z:-4.66 [[ 9.77283982e-01 2.04647492e-01 5.50946756e-02 7.44177299e+01] [-2.03908340e-01 9.78809856e-01 -1.87790924e-02 -1.03796980e+01] [-5.77703057e-02 7.11824229e-03 9.98304524e-01 -4.65768883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:-10.39, Z:-4.66 [[ 9.77803407e-01 2.01838276e-01 5.62299558e-02 7.44469751e+01] [-2.01539471e-01 9.79418690e-01 -1.09941072e-02 -1.03899505e+01] [-5.72917013e-02 -5.82480093e-04 9.98357312e-01 -4.66003660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.48, Y:-10.40, Z:-4.66 [[ 9.78961725e-01 1.96272993e-01 5.57750234e-02 7.44780341e+01] [-1.95969936e-01 9.80549258e-01 -1.09058031e-02 -1.03960888e+01] [-5.68306724e-02 -2.53863939e-04 9.98383799e-01 -4.66165281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-10.40, Z:-4.67 [[ 9.79851187e-01 1.91958343e-01 5.51692472e-02 7.45080435e+01] [-1.91654964e-01 9.81403074e-01 -1.07879790e-02 -1.04023104e+01] [-5.62141114e-02 -2.84604234e-06 9.98418737e-01 -4.66565011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.54, Y:-10.41, Z:-4.67 [[ 9.80298839e-01 1.89833904e-01 5.45644155e-02 7.45393249e+01] [-1.89479976e-01 9.81815639e-01 -1.16356975e-02 -1.04082613e+01] [-5.57810463e-02 1.06759662e-03 9.98442455e-01 -4.66663691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:-10.42, Z:-4.67 [[ 9.80459500e-01 1.88880498e-01 5.49847800e-02 7.45688707e+01] [-1.88628054e-01 9.81999778e-01 -9.79252124e-03 -1.04164431e+01] [-5.58446580e-02 -7.70501569e-04 9.98439172e-01 -4.67028971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:74.60, Y:-10.42, Z:-4.67 [[ 9.80647099e-01 1.88075221e-01 5.43965011e-02 7.46006490e+01] [-1.87773129e-01 9.82154598e-01 -1.06582004e-02 -1.04225905e+01] [-5.54303171e-02 2.37732080e-04 9.98462530e-01 -4.67161577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:-10.43, Z:-4.68 [[ 9.80507587e-01 1.89157484e-01 5.31443218e-02 7.46304051e+01] [-1.88870251e-01 9.81946747e-01 -1.04218534e-02 -1.04302614e+01] [-5.41562654e-02 1.81324930e-04 9.98532456e-01 -4.67503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.66, Y:-10.44, Z:-4.68 [[ 9.80158853e-01 1.91012563e-01 5.29417082e-02 7.46613486e+01] [-1.90729778e-01 9.81587588e-01 -1.03903048e-02 -1.04374989e+01] [-5.39516024e-02 8.65889385e-05 9.98543548e-01 -4.67731009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.69, Y:-10.44, Z:-4.68 [[ 9.79845490e-01 1.92478140e-01 5.34320166e-02 7.46922555e+01] [-1.92191705e-01 9.81301261e-01 -1.04968114e-02 -1.04437544e+01] [-5.44533120e-02 1.60628825e-05 9.98516318e-01 -4.67877794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-10.45, Z:-4.68 [[ 9.79435294e-01 1.94379433e-01 5.40660868e-02 7.47235477e+01] [-1.94088775e-01 9.80926413e-01 -1.06263297e-02 -1.04506486e+01] [-5.51003926e-02 -8.58182427e-05 9.98480816e-01 -4.68169074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-10.46, Z:-4.68 [[ 9.79110802e-01 1.96006101e-01 5.40707399e-02 7.47540737e+01] [-1.95717331e-01 9.80602662e-01 -1.06370165e-02 -1.04573419e+01] [-5.51068316e-02 -1.67763112e-04 9.98480450e-01 -4.68327670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-10.46, Z:-4.69 [[ 9.78632664e-01 1.98701995e-01 5.28736756e-02 7.47839294e+01] [-1.98429288e-01 9.80059909e-01 -1.04111621e-02 -1.04648400e+01] [-5.38880883e-02 -3.02982492e-04 9.98546935e-01 -4.68617217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-10.48, Z:-4.69 [[ 9.78348306e-01 2.00374342e-01 5.18142286e-02 7.48147762e+01] [-2.00445362e-01 9.79697217e-01 -3.87548266e-03 -1.04750439e+01] [-5.15388028e-02 -6.59434989e-03 9.98649221e-01 -4.68522025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:-10.48, Z:-4.69 [[ 9.78085126e-01 2.01884326e-01 5.09137038e-02 7.48468857e+01] [-2.01306852e-01 9.79392940e-01 -1.62794350e-02 -1.04755410e+01] [-5.31510848e-02 5.67339582e-03 9.98570365e-01 -4.69066756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:-10.49, Z:-4.69 [[ 9.77974911e-01 2.02015753e-01 5.24853306e-02 7.48760911e+01] [-2.01751083e-01 9.79382160e-01 -1.03481654e-02 -1.04867558e+01] [-5.34936889e-02 -4.68726125e-04 9.98568078e-01 -4.69349066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:74.90, Y:-10.49, Z:-4.69 [[ 9.77767109e-01 2.02641299e-01 5.39257341e-02 7.49046690e+01] [-2.02362839e-01 9.79252897e-01 -1.06322448e-02 -1.04942418e+01] [-5.49614633e-02 -5.16705422e-04 9.98488343e-01 -4.69380992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:-10.50, Z:-4.70 [[ 9.77422697e-01 2.03988870e-01 5.50764192e-02 7.49345461e+01] [-2.03700579e-01 9.78973020e-01 -1.08581972e-02 -1.05019734e+01] [-5.61332798e-02 -6.06050038e-04 9.98423101e-01 -4.69645934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-10.51, Z:-4.70 [[ 9.77295601e-01 2.04542080e-01 5.52797082e-02 7.49652670e+01] [-2.04252460e-01 9.78857563e-01 -1.08996936e-02 -1.05092529e+01] [-5.63404064e-02 -6.38793789e-04 9.98411413e-01 -4.69859247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-10.52, Z:-4.70 [[ 9.77101869e-01 2.05646296e-01 5.46034596e-02 7.49948794e+01] [-2.05365416e-01 9.78626139e-01 -1.07668802e-02 -1.05196865e+01] [-5.56505419e-02 -6.93323416e-04 9.98450067e-01 -4.70114035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-10.53, Z:-4.70 [[ 9.76911456e-01 2.06459340e-01 5.49413113e-02 7.50261072e+01] [-2.06175748e-01 9.78454905e-01 -1.08425382e-02 -1.05283444e+01] [-5.59961388e-02 -7.35366185e-04 9.98430715e-01 -4.70370911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-10.54, Z:-4.71 [[ 9.76534194e-01 2.08200467e-01 5.50775309e-02 7.50567324e+01] [-2.07917680e-01 9.78085825e-01 -1.08792442e-02 -1.05401047e+01] [-5.61356159e-02 -8.27638470e-04 9.98422810e-01 -4.70682479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:-10.55, Z:-4.71 [[ 9.76416724e-01 2.08782169e-01 5.49580409e-02 7.50886704e+01] [-2.08500945e-01 9.77961802e-01 -1.08660283e-02 -1.05493914e+01] [-5.60154976e-02 -8.49031721e-04 9.98429538e-01 -4.70930877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-10.56, Z:-4.71 [[ 9.76358188e-01 2.09072350e-01 5.48948126e-02 7.51189000e+01] [-2.08791607e-01 9.77899802e-01 -1.08646724e-02 -1.05601739e+01] [-5.59531290e-02 -8.53764299e-04 9.98433032e-01 -4.71202119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:-10.57, Z:-4.72 [[ 9.76422950e-01 2.08035253e-01 5.76155817e-02 7.51495661e+01] [-2.08177739e-01 9.78084444e-01 -3.58450357e-03 -1.05732865e+01] [-5.70986073e-02 -8.49428997e-03 9.98332408e-01 -4.71577041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:-10.57, Z:-4.72 [[ 9.76553698e-01 2.08802051e-01 5.23887310e-02 7.51811384e+01] [-2.08113577e-01 9.77932888e-01 -1.83304596e-02 -1.05735481e+01] [-5.50601005e-02 6.99787189e-03 9.98458519e-01 -4.71721423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:-10.59, Z:-4.72 [[ 9.76710889e-01 2.07791801e-01 5.34640620e-02 7.52118910e+01] [-2.07522019e-01 9.78172803e-01 -1.06103502e-02 -1.05889847e+01] [-5.45018352e-02 -7.31725516e-04 9.98513402e-01 -4.71990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-10.60, Z:-4.72 [[ 9.76642813e-01 2.07181333e-01 5.69623701e-02 7.52414806e+01] [-2.07450914e-01 9.78244687e-01 -1.20420631e-03 -1.06035460e+01] [-5.59726250e-02 -1.06408163e-02 9.98375600e-01 -4.72199627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-10.61, Z:-4.73 [[ 9.76778888e-01 2.08158149e-01 5.07266001e-02 7.52746182e+01] [-2.07386220e-01 9.78052802e-01 -2.00916189e-02 -1.06060670e+01] [-5.37955275e-02 9.10507136e-03 9.98510460e-01 -4.72544824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:-10.63, Z:-4.72 [[ 9.76843814e-01 2.07303191e-01 5.29296741e-02 7.53029655e+01] [-2.07598728e-01 9.78214067e-01 8.75678162e-05 -1.06270706e+01] [-5.17583987e-02 -1.10736731e-02 9.98598239e-01 -4.72347854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:-10.62, Z:-4.73 [[ 9.76707032e-01 2.08921629e-01 4.89400399e-02 7.53363280e+01] [-2.08155352e-01 9.77884679e-01 -2.03200341e-02 -1.06243886e+01] [-5.21030098e-02 9.65958895e-03 9.98594997e-01 -4.73093349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-10.64, Z:-4.73 [[ 9.76355988e-01 2.10155457e-01 5.06326745e-02 7.53657280e+01] [-2.09914457e-01 9.77667675e-01 -1.00915189e-02 -1.06420761e+01] [-5.16227169e-02 -7.75615472e-04 9.98666357e-01 -4.73394109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:-10.65, Z:-4.74 [[ 9.76059458e-01 2.11664530e-01 5.00605686e-02 7.53976187e+01] [-2.11430454e-01 9.77342021e-01 -9.98680572e-03 -1.06512726e+01] [-5.10401498e-02 -8.36612566e-04 9.98696252e-01 -4.73640393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:-10.66, Z:-4.74 [[ 9.75300379e-01 2.15044568e-01 5.04480377e-02 7.54283315e+01] [-2.14810856e-01 9.76603712e-01 -1.00740032e-02 -1.06630332e+01] [-5.14341006e-02 -1.01160702e-03 9.98675878e-01 -4.73934063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:-10.67, Z:-4.74 [[ 9.74831622e-01 2.17039123e-01 5.09639864e-02 7.54600896e+01] [-2.16802778e-01 9.76162266e-01 -1.01875502e-02 -1.06721487e+01] [-5.19602174e-02 -1.11798780e-03 9.98648530e-01 -4.74066542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:-10.68, Z:-4.74 [[ 9.73944593e-01 2.20825882e-01 5.16513236e-02 7.54908480e+01] [-2.20587830e-01 9.75312345e-01 -1.03363179e-02 -1.06832624e+01] [-5.26587001e-02 -1.32665248e-03 9.98611687e-01 -4.74286180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-10.69, Z:-4.75 [[ 9.73536314e-01 2.22600731e-01 5.17296801e-02 7.55224666e+01] [-2.22364146e-01 9.74908663e-01 -1.03578844e-02 -1.06925905e+01] [-5.27373859e-02 -1.41904954e-03 9.98607408e-01 -4.74537962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-10.71, Z:-4.74 [[ 9.73244659e-01 2.23857807e-01 5.17930116e-02 7.55533082e+01] [-2.24254513e-01 9.74528751e-01 1.90446314e-03 -1.07094041e+01] [-5.00474500e-02 -1.34683252e-02 9.98656025e-01 -4.74079114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:-10.70, Z:-4.75 [[ 9.72632926e-01 2.27166649e-01 4.87904183e-02 7.55872186e+01] [-2.26328765e-01 9.73799444e-01 -2.21344198e-02 -1.07035449e+01] [-5.25402842e-02 1.04859904e-02 9.98563750e-01 -4.75172060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:-10.72, Z:-4.75 [[ 9.72531673e-01 2.27032677e-01 5.13644727e-02 7.56171790e+01] [-2.26804374e-01 9.73885785e-01 -1.03079077e-02 -1.07182485e+01] [-5.23633617e-02 -1.62492035e-03 9.98626776e-01 -4.75378182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:-10.73, Z:-4.76 [[ 9.72656457e-01 2.26527856e-01 5.12303296e-02 7.56481614e+01] [-2.26299552e-01 9.74003399e-01 -1.02903997e-02 -1.07298707e+01] [-5.22295773e-02 -1.58437690e-03 9.98633847e-01 -4.75634010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-10.74, Z:-4.76 [[ 9.72863418e-01 2.25616300e-01 5.13230561e-02 7.56785293e+01] [-2.25385362e-01 9.74215043e-01 -1.03193190e-02 -1.07395723e+01] [-5.23278999e-02 -1.52817764e-03 9.98628788e-01 -4.75864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-10.75, Z:-4.76 [[ 9.73168096e-01 2.24239873e-01 5.15784562e-02 7.57104274e+01] [-2.24004204e-01 9.74532899e-01 -1.03800920e-02 -1.07490123e+01] [-5.25925329e-02 -1.45221659e-03 9.98614999e-01 -4.76070533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-10.76, Z:-4.76 [[ 9.73671796e-01 2.22241279e-01 5.07153641e-02 7.57412190e+01] [-2.22010212e-01 9.74990817e-01 -1.02163026e-02 -1.07588483e+01] [-5.17174984e-02 -1.31200309e-03 9.98660893e-01 -4.76370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-10.77, Z:-4.77 [[ 9.73750632e-01 2.21929676e-01 5.05660561e-02 7.57725985e+01] [-2.21699079e-01 9.75061831e-01 -1.01953384e-02 -1.07673930e+01] [-5.15676793e-02 -1.28273083e-03 9.98668678e-01 -4.76639929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:-10.78, Z:-4.77 [[ 9.73919556e-01 2.21094855e-01 5.09682589e-02 7.58040074e+01] [-2.20858915e-01 9.75251522e-01 -1.02863361e-02 -1.07787547e+01] [-5.19811281e-02 -1.23873053e-03 9.98647299e-01 -4.76870038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:-10.79, Z:-4.77 [[ 9.73933762e-01 2.21018805e-01 5.10266145e-02 7.58344415e+01] [-2.20781672e-01 9.75268776e-01 -1.03086306e-02 -1.07871609e+01] [-5.20430650e-02 -1.22581785e-03 9.98644089e-01 -4.77095958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:-10.80, Z:-4.77 [[ 9.73918157e-01 2.20896761e-01 5.18463517e-02 7.58636043e+01] [-2.20957957e-01 9.75272390e-01 -4.62029870e-03 -1.07993430e+01] [-5.15849243e-02 -6.95607115e-03 9.98644385e-01 -4.77175368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:-10.80, Z:-4.78 [[ 9.74227835e-01 2.20380086e-01 4.80909880e-02 7.58962072e+01] [-2.19882181e-01 9.75403686e-01 -1.54749936e-02 -1.08034098e+01] [-5.03185074e-02 4.50181817e-03 9.98723075e-01 -4.77689294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:-10.81, Z:-4.78 [[ 9.74312670e-01 2.19792522e-01 4.90516866e-02 7.59272008e+01] [-2.19570772e-01 9.75546026e-01 -9.93109207e-03 -1.08145401e+01] [-5.00349577e-02 -1.09432785e-03 9.98746868e-01 -4.77905158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:-10.82, Z:-4.78 [[ 9.74521049e-01 2.18969044e-01 4.85930327e-02 7.59573023e+01] [-2.18749908e-01 9.75731260e-01 -9.84813843e-03 -1.08241778e+01] [-4.95701785e-02 -1.03250326e-03 9.98770109e-01 -4.78150521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:-10.83, Z:-4.78 [[ 9.74676566e-01 2.18276318e-01 4.85905490e-02 7.59890260e+01] [-2.18055895e-01 9.75886506e-01 -9.85669617e-03 -1.08332456e+01] [-4.95703445e-02 -9.88364903e-04 9.98770146e-01 -4.78334700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-10.84, Z:-4.79 [[ 9.74861436e-01 2.17444463e-01 4.86115843e-02 7.60211986e+01] [-2.17222331e-01 9.76072245e-01 -9.87071804e-03 -1.08422447e+01] [-4.95947512e-02 -9.36939309e-04 9.98768984e-01 -4.78544951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:-10.85, Z:-4.79 [[ 9.75373958e-01 2.15306664e-01 4.78401651e-02 7.60516317e+01] [-2.15088493e-01 9.76546154e-01 -9.72363014e-03 -1.08522669e+01] [-4.88116917e-02 -8.05693410e-04 9.98807674e-01 -4.78764110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-10.86, Z:-4.79 [[ 9.75654941e-01 2.14039187e-01 4.77981537e-02 7.60833834e+01] [-2.13819453e-01 9.76824800e-01 -9.72381034e-03 -1.08607779e+01] [-4.87716984e-02 -7.33091478e-04 9.98809684e-01 -4.79016557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-10.88, Z:-4.79 [[ 9.76223764e-01 2.10775303e-01 5.06056831e-02 7.61106733e+01] [-2.10899941e-01 9.77503279e-01 -2.92486531e-03 -1.08768504e+01] [-5.00837105e-02 -7.81741258e-03 9.98714429e-01 -4.79085321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-10.88, Z:-4.80 [[ 9.76626379e-01 2.09746883e-01 4.69804251e-02 7.61447924e+01] [-2.09181456e-01 9.77734230e-01 -1.67001193e-02 -1.08789661e+01] [-4.94371677e-02 6.48234335e-03 9.98756199e-01 -4.79558771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.17, Y:-10.89, Z:-4.80 [[ 9.76886012e-01 2.08073494e-01 4.89810194e-02 7.61748906e+01] [-2.07833910e-01 9.78113104e-01 -9.99104411e-03 -1.08919306e+01] [-4.99878484e-02 -4.19805547e-04 9.98749738e-01 -4.79771046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:-10.90, Z:-4.80 [[ 9.77151380e-01 2.06830851e-01 4.89507786e-02 7.62061037e+01] [-2.06589540e-01 9.78376655e-01 -9.99416095e-03 -1.09030513e+01] [-4.99593998e-02 -3.46910673e-04 9.98751189e-01 -4.79922607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-10.91, Z:-4.80 [[ 9.77147145e-01 2.06909146e-01 4.87038330e-02 7.62375505e+01] [-2.06669874e-01 9.78360103e-01 -9.95354652e-03 -1.09123491e+01] [-4.97093668e-02 -3.39535451e-04 9.98763668e-01 -4.80144137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.27, Y:-10.92, Z:-4.81 [[ 9.76950928e-01 2.08070193e-01 4.76831056e-02 7.62674645e+01] [-2.07841766e-01 9.78113822e-01 -9.75451062e-03 -1.09242886e+01] [-4.86691276e-02 -3.80862696e-04 9.98814883e-01 -4.80526236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:-10.93, Z:-4.81 [[ 9.76883636e-01 2.08575323e-01 4.68475821e-02 7.62979829e+01] [-2.08354960e-01 9.78006228e-01 -9.59311337e-03 -1.09332173e+01] [-4.78181138e-02 -3.89570615e-04 9.98855984e-01 -4.80665917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:-10.94, Z:-4.81 [[ 9.76614207e-01 2.09738890e-01 4.72682624e-02 7.63280739e+01] [-2.09515662e-01 9.77757332e-01 -9.68439922e-03 -1.09437955e+01] [-4.82480853e-02 -4.45519436e-04 9.98835284e-01 -4.80858527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-10.95, Z:-4.81 [[ 9.76597342e-01 2.09817852e-01 4.72662640e-02 7.63607968e+01] [-2.09594246e-01 9.77740393e-01 -9.69414229e-03 -1.09506461e+01] [-4.82481396e-02 -4.39463344e-04 9.98835284e-01 -4.81066952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-10.96, Z:-4.81 [[ 9.76406753e-01 2.10796882e-01 4.68457697e-02 7.63920448e+01] [-2.10578242e-01 9.77529766e-01 -9.61045097e-03 -1.09592645e+01] [-4.78189874e-02 -4.80990611e-04 9.98855902e-01 -4.81334321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-10.97, Z:-4.82 [[ 9.76279397e-01 2.11581940e-01 4.59523923e-02 7.64239722e+01] [-2.11372075e-01 9.77360134e-01 -9.43479784e-03 -1.09677238e+01] [-4.69082691e-02 -5.02053749e-04 9.98899075e-01 -4.81588768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-10.98, Z:-4.82 [[ 9.75885841e-01 2.13637285e-01 4.47876755e-02 7.64541671e+01] [-2.13439634e-01 9.76912882e-01 -9.20564213e-03 -1.09790216e+01] [-4.57203256e-02 -5.75809240e-04 9.98954113e-01 -4.81906321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:-10.99, Z:-4.82 [[ 9.75718963e-01 2.14690544e-01 4.33644447e-02 7.64862778e+01] [-2.14506126e-01 9.76681938e-01 -8.91702975e-03 -1.09879757e+01] [-4.42676719e-02 -6.01424001e-04 9.99019525e-01 -4.82117856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-11.00, Z:-4.82 [[ 9.75178931e-01 2.17459331e-01 4.16832426e-02 7.65183947e+01] [-2.17291133e-01 9.76069138e-01 -8.57915569e-03 -1.09964858e+01] [-4.25513441e-02 -6.91187138e-04 9.99094042e-01 -4.82422788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-11.00, Z:-4.83 [[ 9.74733005e-01 2.19347713e-01 4.22155245e-02 7.65495259e+01] [-2.19176572e-01 9.75646442e-01 -8.69768705e-03 -1.10045152e+01] [-4.30952440e-02 -7.74731302e-04 9.99070668e-01 -4.82674852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-11.01, Z:-4.83 [[ 9.74070654e-01 2.22504217e-01 4.09662599e-02 7.65801628e+01] [-2.22345530e-01 9.74931331e-01 -8.44784269e-03 -1.10142415e+01] [-4.18189709e-02 -8.79869095e-04 9.99124817e-01 -4.82901206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-11.02, Z:-4.83 [[ 9.73812838e-01 2.23836913e-01 3.98195091e-02 7.66125918e+01] [-2.23687836e-01 9.74626194e-01 -8.21787974e-03 -1.10218432e+01] [-4.06486015e-02 -9.04463048e-04 9.99173095e-01 -4.83154676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-11.03, Z:-4.83 [[ 9.73625179e-01 2.24666556e-01 3.97359978e-02 7.66433830e+01] [-2.24518456e-01 9.74435260e-01 -8.20898435e-03 -1.10291273e+01] [-4.05644416e-02 -9.28991028e-04 9.99176492e-01 -4.83387820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-11.04, Z:-4.84 [[ 9.73606955e-01 2.24699834e-01 3.99935187e-02 7.66753793e+01] [-2.24549534e-01 9.74427586e-01 -8.26955162e-03 -1.10368342e+01] [-4.08289548e-02 -9.29233041e-04 9.99165718e-01 -4.83597832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-11.04, Z:-4.84 [[ 9.73963558e-01 2.22953945e-01 4.10673334e-02 7.67062771e+01] [-2.22793536e-01 9.74828591e-01 -8.50054341e-03 -1.10446682e+01] [-4.19288404e-02 -8.70316930e-04 9.99120220e-01 -4.83727984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-11.05, Z:-4.84 [[ 9.74427431e-01 2.20741770e-01 4.20030141e-02 7.67375033e+01] [-2.20571559e-01 9.75331972e-01 -8.70244815e-03 -1.10530977e+01] [-4.28878763e-02 -7.84766087e-04 9.99079584e-01 -4.83896409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-11.06, Z:-4.84 [[ 9.74709519e-01 2.19449471e-01 4.22289349e-02 7.67692765e+01] [-2.19275875e-01 9.75623598e-01 -8.75702460e-03 -1.10617084e+01] [-4.31212698e-02 -7.24231410e-04 9.99069583e-01 -4.84001033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-11.07, Z:-4.84 [[ 9.74958800e-01 2.18227862e-01 4.28011454e-02 7.67999420e+01] [-2.18047956e-01 9.75897613e-01 -8.88473059e-03 -1.10699643e+01] [-4.37084314e-02 -6.70455980e-04 9.99044105e-01 -4.84179626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:-11.08, Z:-4.84 [[ 9.75295499e-01 2.16385717e-01 4.44512177e-02 7.68320783e+01] [-2.16189361e-01 9.76307768e-01 -9.23587751e-03 -1.10780698e+01] [-4.53965811e-02 -6.02170576e-04 9.98968862e-01 -4.84326023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:-11.09, Z:-4.85 [[ 9.75388203e-01 2.15926080e-01 4.46517790e-02 7.68640708e+01] [-2.15727061e-01 9.76409544e-01 -9.28642203e-03 -1.10856542e+01] [-4.56036039e-02 -5.74730550e-04 9.98959449e-01 -4.84545006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:76.89, Y:-11.10, Z:-4.85 [[ 9.75530704e-01 2.15196731e-01 4.50578760e-02 7.68944879e+01] [-2.14992870e-01 9.76570571e-01 -9.38012087e-03 -1.10954470e+01] [-4.60207670e-02 -5.36526148e-04 9.98940339e-01 -4.84985097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-11.10, Z:-4.85 [[ 9.75791549e-01 2.14255149e-01 4.38814802e-02 7.69267382e+01] [-2.14060507e-01 9.76777615e-01 -9.14281518e-03 -1.11022145e+01] [-4.48213427e-02 -4.71810101e-04 9.98994907e-01 -4.84895391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-11.11, Z:-4.85 [[ 9.75829377e-01 2.14015746e-01 4.42073285e-02 7.69583055e+01] [-2.13817545e-01 9.76830105e-01 -9.21977174e-03 -1.11091232e+01] [-4.51562256e-02 -4.55378332e-04 9.98979834e-01 -4.85147917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-11.12, Z:-4.85 [[ 9.76202268e-01 2.12663090e-01 4.24681367e-02 7.69896821e+01] [-2.12478596e-01 9.77125515e-01 -8.86415999e-03 -1.11187281e+01] [-4.33817796e-02 -3.70356973e-04 9.99058499e-01 -4.85373924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-11.13, Z:-4.86 [[ 9.76338368e-01 2.12333679e-01 4.09609521e-02 7.70211128e+01] [-2.12161437e-01 9.77197163e-01 -8.55736650e-03 -1.11268280e+01] [-4.18439433e-02 -3.35449193e-04 9.99124102e-01 -4.85576617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-11.13, Z:-4.86 [[ 9.76602270e-01 2.11425059e-01 3.93376524e-02 7.70523474e+01] [-2.11265099e-01 9.77394172e-01 -8.22738420e-03 -1.11336144e+01] [-4.01878674e-02 -2.75790941e-04 9.99192103e-01 -4.85888942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-11.14, Z:-4.86 [[ 9.76637216e-01 2.11361968e-01 3.88055026e-02 7.70848879e+01] [-2.11206141e-01 9.77407820e-01 -8.11903866e-03 -1.11410877e+01] [-3.96448577e-02 -2.66605143e-04 9.99213798e-01 -4.86073523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:-11.15, Z:-4.86 [[ 9.76539224e-01 2.11731081e-01 3.92567504e-02 7.71163848e+01] [-2.11571554e-01 9.77327925e-01 -8.22220484e-03 -1.11483872e+01] [-4.01076147e-02 -2.76306151e-04 9.99195328e-01 -4.86295379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-11.15, Z:-4.86 [[ 9.76303107e-01 2.12803465e-01 3.93310226e-02 7.71473847e+01] [-2.12643887e-01 9.77094973e-01 -8.24560938e-03 -1.11546552e+01] [-4.01848387e-02 -3.13287473e-04 9.99192214e-01 -4.86396828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.18, Y:-11.16, Z:-4.87 [[ 9.76029949e-01 2.14012201e-01 3.95514293e-02 7.71798589e+01] [-2.13851524e-01 9.76830922e-01 -8.29916390e-03 -1.11613557e+01] [-4.04111815e-02 -3.57900892e-04 9.99183070e-01 -4.86847268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-11.17, Z:-4.87 [[ 9.76017756e-01 2.14152083e-01 3.90925153e-02 7.72115676e+01] [-2.13994832e-01 9.76800268e-01 -8.21271997e-03 -1.11671062e+01] [-3.99443505e-02 -3.49835721e-04 9.99201845e-01 -4.86881996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-11.18, Z:-4.87 [[ 9.76122751e-01 2.13890598e-01 3.78838728e-02 7.72433293e+01] [-2.13742612e-01 9.76857567e-01 -7.96177956e-03 -1.11753277e+01] [-3.87100976e-02 -3.25723742e-04 9.99250430e-01 -4.87101764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:-11.18, Z:-4.87 [[ 9.76200007e-01 2.13675805e-01 3.70971158e-02 7.72741955e+01] [-2.13533455e-01 9.76904580e-01 -7.80416779e-03 -1.11830603e+01] [-3.79079041e-02 -3.03046637e-04 9.99281191e-01 -4.87329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-11.19, Z:-4.88 [[ 9.76274569e-01 2.13435734e-01 3.65123775e-02 7.73060635e+01] [-2.13297426e-01 9.76957065e-01 -7.68770823e-03 -1.11898814e+01] [-3.73118568e-02 -2.82682093e-04 9.99303630e-01 -4.87524404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.34, Y:-11.20, Z:-4.88 [[ 9.76228181e-01 2.13738961e-01 3.59749187e-02 7.73375738e+01] [-2.13604561e-01 9.76890771e-01 -7.58378314e-03 -1.11954365e+01] [-3.67645160e-02 -2.80903908e-04 9.99323917e-01 -4.87987199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-11.20, Z:-4.88 [[ 9.76493545e-01 2.12610604e-01 3.54554287e-02 7.73691092e+01] [-2.12479210e-01 9.77136980e-01 -7.47718762e-03 -1.12016866e+01] [-3.62345399e-02 -2.32116022e-04 9.99343286e-01 -4.88007991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-11.21, Z:-4.88 [[ 9.76566519e-01 2.12223282e-01 3.57646752e-02 7.74010913e+01] [-2.12089082e-01 9.77221179e-01 -7.54905847e-03 -1.12101199e+01] [-3.65520840e-02 -2.13139361e-04 9.99331727e-01 -4.88199466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:-11.22, Z:-4.88 [[ 9.76973860e-01 2.10257264e-01 3.62485951e-02 7.74331765e+01] [-2.10117783e-01 9.77646084e-01 -7.65847262e-03 -1.12189536e+01] [-3.70485465e-02 -1.34346884e-04 9.99313458e-01 -4.88327753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.46, Y:-11.23, Z:-4.89 [[ 9.77055485e-01 2.09791613e-01 3.67431323e-02 7.74642508e+01] [-2.09647666e-01 9.77746116e-01 -7.77104012e-03 -1.12271561e+01] [-3.75557539e-02 -1.10374543e-04 9.99294528e-01 -4.88731829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:-11.24, Z:-4.89 [[ 9.77651742e-01 2.06962468e-01 3.69270564e-02 7.74958635e+01] [-2.06814801e-01 9.78348883e-01 -7.81673112e-03 -1.12363915e+01] [-3.77453144e-02 4.97897212e-06 9.99287392e-01 -4.88705844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-11.24, Z:-4.89 [[ 9.77809032e-01 2.06277356e-01 3.65943917e-02 7.75267432e+01] [-2.06131565e-01 9.78493562e-01 -7.75416760e-03 -1.12448726e+01] [-3.74068859e-02 3.88358802e-05 9.99300117e-01 -4.88962732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-11.25, Z:-4.89 [[ 9.77932360e-01 2.05863555e-01 3.56159637e-02 7.75587884e+01] [-2.05724954e-01 9.78580704e-01 -7.55314420e-03 -1.12539835e+01] [-3.64080119e-02 5.93716329e-05 9.99337007e-01 -4.89140701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:-11.26, Z:-4.89 [[ 9.77828052e-01 2.06412177e-01 3.53031733e-02 7.75888836e+01] [-2.06276086e-01 9.78465130e-01 -7.49435384e-03 -1.12639760e+01] [-3.60898500e-02 4.59890114e-05 9.99348548e-01 -4.89342281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-11.27, Z:-4.89 [[ 9.77539687e-01 2.07743772e-01 3.54779704e-02 7.76206750e+01] [-2.07606965e-01 9.78183278e-01 -7.53809016e-03 -1.12716877e+01] [-3.62699486e-02 3.30854360e-06 9.99342029e-01 -4.89484091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-11.28, Z:-4.90 [[ 9.76825538e-01 2.10954041e-01 3.61975379e-02 7.76520947e+01] [-2.10813552e-01 9.77495975e-01 -7.69844929e-03 -1.12801673e+01] [-3.70069666e-02 -1.10889677e-04 9.99315001e-01 -4.89708630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-11.29, Z:-4.90 [[ 9.76443284e-01 2.12765631e-01 3.59068191e-02 7.76831267e+01] [-2.12628326e-01 9.77103248e-01 -7.64445002e-03 -1.12884621e+01] [-3.67111458e-02 -1.70434961e-04 9.99325904e-01 -4.89893560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-11.30, Z:-4.90 [[ 9.75855971e-01 2.15574359e-01 3.51115275e-02 7.77146919e+01] [-2.15444655e-01 9.76487392e-01 -7.48159315e-03 -1.12973398e+01] [-3.58988035e-02 -2.63633582e-04 9.99355395e-01 -4.90046111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:77.75, Y:-11.30, Z:-4.90 [[ 9.75558999e-01 2.16863074e-01 3.54266241e-02 7.77463798e+01] [-2.16731624e-01 9.76201984e-01 -7.55580573e-03 -1.13049531e+01] [-3.62221160e-02 -3.06935500e-04 9.99343717e-01 -4.90471919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:-11.31, Z:-4.90 [[ 9.75523306e-01 2.17043127e-01 3.53066583e-02 7.77778146e+01] [-2.16912406e-01 9.76161968e-01 -7.53791629e-03 -1.13114583e+01] [-3.61010700e-02 -3.05039164e-04 9.99348097e-01 -4.90409239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:-11.32, Z:-4.91 [[ 9.75605061e-01 2.16793899e-01 3.45712434e-02 7.78096411e+01] [-2.16668193e-01 9.76217355e-01 -7.38709087e-03 -1.13201525e+01] [-3.53505240e-02 -2.83605610e-04 9.99374935e-01 -4.90570127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:-11.33, Z:-4.91 [[ 9.75674461e-01 2.16471065e-01 3.46355990e-02 7.78402443e+01] [-2.16344418e-01 9.76288998e-01 -7.40845291e-03 -1.13279030e+01] [-3.54180700e-02 -2.64980213e-04 9.99372548e-01 -4.90744502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:-11.34, Z:-4.91 [[ 9.75910248e-01 2.15338321e-01 3.50513134e-02 7.78721090e+01] [-2.15207639e-01 9.76539482e-01 -7.50418046e-03 -1.13363266e+01] [-3.58449291e-02 -2.19903804e-04 9.99357340e-01 -4.90900799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-11.35, Z:-4.91 [[ 9.76035514e-01 2.14772659e-01 3.50339788e-02 7.79042796e+01] [-2.14641497e-01 9.76664051e-01 -7.50731783e-03 -1.13453183e+01] [-3.58287943e-02 -1.92336822e-04 9.99357924e-01 -4.91093600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:77.94, Y:-11.35, Z:-4.91 [[ 9.76150090e-01 2.14344653e-01 3.44582534e-02 7.79351113e+01] [-2.14217186e-01 9.76758078e-01 -7.39289662e-03 -1.13544032e+01] [-3.52420052e-02 -1.64973369e-04 9.99378794e-01 -4.91413365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-11.36, Z:-4.91 [[ 9.76579020e-01 2.12708150e-01 3.23830207e-02 7.79675980e+01] [-2.12594630e-01 9.77115773e-01 -6.94907172e-03 -1.13621408e+01] [-3.31200845e-02 -9.81386802e-05 9.99451375e-01 -4.91447556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:-11.37, Z:-4.92 [[ 9.76643057e-01 2.12497771e-01 3.18282383e-02 7.79981717e+01] [-2.12387776e-01 9.77161548e-01 -6.83681952e-03 -1.13696058e+01] [-3.25541395e-02 -8.27964370e-05 9.99469970e-01 -4.91716231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:-11.38, Z:-4.92 [[ 9.76864435e-01 2.11685981e-01 3.04125097e-02 7.80300062e+01] [-2.11585007e-01 9.77337732e-01 -6.53771531e-03 -1.13805304e+01] [-3.11072359e-02 -4.83694824e-05 9.99516052e-01 -4.91874989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:78.06, Y:-11.39, Z:-4.92 [[ 9.76811582e-01 2.11905771e-01 3.05790207e-02 7.80619714e+01] [-2.11803595e-01 9.77290101e-01 -6.57993553e-03 -1.13890789e+01] [-3.12789006e-02 -4.93892818e-05 9.99510694e-01 -4.92217191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-11.40, Z:-4.92 [[ 9.76828855e-01 2.11737256e-01 3.11885087e-02 7.80932216e+01] [-2.11630587e-01 9.77326626e-01 -6.72021486e-03 -1.13964849e+01] [-3.19042798e-02 -3.59426191e-05 9.99490928e-01 -4.92230739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:-11.41, Z:-4.92 [[ 9.76801366e-01 2.11690209e-01 3.23472878e-02 7.81248453e+01] [-2.11575361e-01 9.77336817e-01 -6.97222800e-03 -1.14059551e+01] [-3.30901477e-02 -3.34072787e-05 9.99452371e-01 -4.92268559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:-11.41, Z:-4.92 [[ 9.76780379e-01 2.11867710e-01 3.18145468e-02 7.81557263e+01] [-2.11756488e-01 9.77298354e-01 -6.86421365e-03 -1.14132516e+01] [-3.25466094e-02 -3.21074700e-05 9.99470218e-01 -4.92470045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:-11.42, Z:-4.93 [[ 9.76693437e-01 2.12444344e-01 3.06158436e-02 7.81866671e+01] [-2.12341394e-01 9.77173167e-01 -6.61312274e-03 -1.14211154e+01] [-3.13219014e-02 -4.20173438e-05 9.99509348e-01 -4.92632216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:-11.43, Z:-4.93 [[ 9.76550134e-01 2.13151892e-01 3.02672575e-02 7.82192377e+01] [-2.13051574e-01 9.77019072e-01 -6.53912071e-03 -1.14287932e+01] [-3.09655138e-02 -6.27076431e-05 9.99520452e-01 -4.92768454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:-11.44, Z:-4.93 [[ 9.76365071e-01 2.13970650e-01 3.04599512e-02 7.82500897e+01] [-2.13869235e-01 9.76840086e-01 -6.58759620e-03 -1.14352470e+01] [-3.11640536e-02 -8.25476344e-05 9.99514280e-01 -4.92986272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.28, Y:-11.44, Z:-4.93 [[ 9.76227839e-01 2.14413176e-01 3.17205995e-02 7.82821210e+01] [-2.14303215e-01 9.76743048e-01 -6.86664806e-03 -1.14423333e+01] [-3.24551748e-02 -9.44134625e-05 9.99473188e-01 -4.93179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:-11.45, Z:-4.93 [[ 9.76201075e-01 2.14415187e-01 3.25205803e-02 7.83146246e+01] [-2.14299379e-01 9.76742607e-01 -7.04674795e-03 -1.14497689e+01] [-3.32751661e-02 -9.00972404e-05 9.99446224e-01 -4.93234781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:-11.46, Z:-4.93 [[ 9.76182551e-01 2.14499819e-01 3.25185290e-02 7.83472611e+01] [-2.14383743e-01 9.76724025e-01 -7.05619859e-03 -1.14569872e+01] [-3.32751818e-02 -8.33060138e-05 9.99446224e-01 -4.93443267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-11.46, Z:-4.94 [[ 9.76184697e-01 2.14496595e-01 3.24753350e-02 7.83790412e+01] [-2.14380838e-01 9.76724733e-01 -7.04646193e-03 -1.14637806e+01] [-3.32309050e-02 -8.34412138e-05 9.99447697e-01 -4.93594872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:-11.47, Z:-4.94 [[ 9.76369774e-01 2.13844050e-01 3.11895426e-02 7.84111937e+01] [-2.13736760e-01 9.76867811e-01 -6.77334310e-03 -1.14704317e+01] [-3.19164993e-02 -5.30643072e-05 9.99490537e-01 -4.93879083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:-11.48, Z:-4.94 [[ 9.76384659e-01 2.13854372e-01 3.06480799e-02 7.84419344e+01] [-2.13750574e-01 9.76865551e-01 -6.66235592e-03 -1.14783691e+01] [-3.13638274e-02 -4.60225539e-05 9.99508033e-01 -4.94087357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.47, Y:-11.49, Z:-4.94 [[ 9.76326360e-01 2.14333743e-01 2.91184762e-02 7.84731905e+01] [-2.14240118e-01 9.76760484e-01 -6.33466141e-03 -1.14872043e+01] [-2.97995086e-02 -5.36488665e-05 9.99555895e-01 -4.94357115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-11.49, Z:-4.94 [[ 9.76211550e-01 2.14750708e-01 2.98854905e-02 7.85044424e+01] [-2.14652009e-01 9.76668895e-01 -6.51038644e-03 -1.14929123e+01] [-3.05863391e-02 -5.94661379e-05 9.99532127e-01 -4.94382813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:-11.50, Z:-4.95 [[ 9.76106893e-01 2.15269784e-01 2.95677692e-02 7.85366022e+01] [-2.15173371e-01 9.76554614e-01 -6.44249156e-03 -1.14981183e+01] [-3.02614152e-02 -7.36361444e-05 9.99542016e-01 -4.94524189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:-11.50, Z:-4.95 [[ 9.75812604e-01 2.16616727e-01 2.94441200e-02 7.85679049e+01] [-2.16521541e-01 9.76256719e-01 -6.42188894e-03 -1.15026767e+01] [-3.01361086e-02 -1.08726081e-04 9.99545798e-01 -4.94702191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:-11.51, Z:-4.95 [[ 9.75686349e-01 2.17217985e-01 2.91975173e-02 7.85991294e+01] [-2.17124489e-01 9.76123113e-01 -6.37369556e-03 -1.15104708e+01] [-2.98848528e-02 -1.20768261e-04 9.99553341e-01 -4.94917687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-11.52, Z:-4.95 [[ 9.75317063e-01 2.18966915e-01 2.84625434e-02 7.86309979e+01] [-2.18878686e-01 9.75732270e-01 -6.21757049e-03 -1.15178381e+01] [-2.91332643e-02 -1.65741504e-04 9.99575523e-01 -4.95003992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264000000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:78.66, Y:-11.52, Z:-4.95 [[ 9.75098169e-01 2.19922394e-01 2.85954601e-02 7.86632957e+01] [-2.19833576e-01 9.75517352e-01 -6.25253407e-03 -1.15230490e+01] [-2.92704398e-02 -1.89407733e-04 9.99571511e-01 -4.95446051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-11.53, Z:-4.95 [[ 9.74867725e-01 2.20926513e-01 2.87122721e-02 7.86944479e+01] [-2.20837211e-01 9.75290434e-01 -6.28462268e-03 -1.15292643e+01] [-2.93912441e-02 -2.14062281e-04 9.99567961e-01 -4.95430740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-11.54, Z:-4.96 [[ 9.74755316e-01 2.21462297e-01 2.83993748e-02 7.87259757e+01] [-2.21374994e-01 9.75168909e-01 -6.22176653e-03 -1.15361831e+01] [-2.90720740e-02 -2.22211423e-04 9.99577293e-01 -4.95585820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-11.55, Z:-4.94 [[ 9.74846280e-01 2.20854092e-01 2.99699936e-02 7.87548844e+01] [-2.21348167e-01 9.75090406e-01 1.42719936e-02 -1.15549276e+01] [-2.60714250e-02 -2.05468030e-02 9.99448903e-01 -4.94435559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:-11.53, Z:-4.96 [[ 9.74539738e-01 2.22934797e-01 2.39243622e-02 7.87906855e+01] [-2.22313896e-01 9.74625878e-01 -2.60946227e-02 -1.15348192e+01] [-2.91347020e-02 2.01115286e-02 9.99373151e-01 -4.96321479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:-11.55, Z:-4.96 [[ 9.74661733e-01 2.21887806e-01 2.82897289e-02 7.88203784e+01] [-2.21801071e-01 9.75072177e-01 -6.20755957e-03 -1.15538745e+01] [-2.89619093e-02 -2.24421385e-04 9.99580491e-01 -4.96066509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:-11.56, Z:-4.96 [[ 9.74566172e-01 2.22259028e-01 2.86653339e-02 7.88519329e+01] [-2.22169956e-01 9.74987626e-01 -6.29606149e-03 -1.15619577e+01] [-2.93477023e-02 -2.32647420e-04 9.99569236e-01 -4.96150094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:-11.57, Z:-4.96 [[ 9.74359653e-01 2.23122609e-01 2.89753039e-02 7.88825711e+01] [-2.23031729e-01 9.74790355e-01 -6.37264521e-03 -1.15692503e+01] [-2.96667280e-02 -2.53163770e-04 9.99559814e-01 -4.96248299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-11.57, Z:-4.96 [[ 9.74012922e-01 2.24576174e-01 2.94001775e-02 7.89154525e+01] [-2.24483223e-01 9.74456490e-01 -6.46765493e-03 -1.15743206e+01] [-3.01016750e-02 -3.00267132e-04 9.99546797e-01 -4.96405814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.95, Y:-11.58, Z:-4.97 [[ 9.73465142e-01 2.26958742e-01 2.92463037e-02 7.89481081e+01] [-2.26867669e-01 9.73904305e-01 -6.43939153e-03 -1.15794339e+01] [-2.99445773e-02 -3.66517556e-04 9.99551493e-01 -4.96591102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-11.59, Z:-4.97 [[ 9.73072536e-01 2.28685062e-01 2.88614376e-02 7.89802520e+01] [-2.28596956e-01 9.73500373e-01 -6.36051728e-03 -1.15865174e+01] [-2.95511756e-02 -4.08392100e-04 9.99563185e-01 -4.96690573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-11.59, Z:-4.97 [[ 9.72732255e-01 2.30097865e-01 2.91020913e-02 7.90119009e+01] [-2.30008716e-01 9.73167391e-01 -6.42021818e-03 -1.15920229e+01] [-2.97984848e-02 -4.48581343e-04 9.99555826e-01 -4.96928696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.04, Y:-11.59, Z:-4.97 [[ 9.72305543e-01 2.31856088e-01 2.94055464e-02 7.90447652e+01] [-2.31765707e-01 9.72749969e-01 -6.49267148e-03 -1.15942334e+01] [-3.01096097e-02 -5.02336776e-04 9.99546477e-01 -4.97040486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:-11.60, Z:-4.97 [[ 9.72151118e-01 2.32434382e-01 2.99409709e-02 7.90763111e+01] [-2.32340740e-01 9.72611939e-01 -6.61784667e-03 -1.16006681e+01] [-3.06591609e-02 -5.22960288e-04 9.99529761e-01 -4.97216739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:-11.61, Z:-4.97 [[ 9.72146812e-01 2.32447729e-01 2.99771407e-02 7.91089124e+01] [-2.32353694e-01 9.72608752e-01 -6.63148211e-03 -1.16075146e+01] [-3.06975024e-02 -5.18525194e-04 9.99528586e-01 -4.97351796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:79.14, Y:-11.61, Z:-4.97 [[ 9.72372201e-01 2.31502755e-01 2.99796051e-02 7.91419732e+01] [-2.31408076e-01 9.72834128e-01 -6.63785650e-03 -1.16113996e+01] [-3.07018651e-02 -4.83055608e-04 9.99528470e-01 -4.97462496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:-11.62, Z:-4.98 [[ 9.72534001e-01 2.30820147e-01 2.99946238e-02 7.91745624e+01] [-2.30724866e-01 9.72996327e-01 -6.64713842e-03 -1.16172434e+01] [-3.07189523e-02 -4.55937436e-04 9.99527958e-01 -4.97537879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:-11.62, Z:-4.98 [[ 9.72780279e-01 2.29694525e-01 3.06423467e-02 7.92058289e+01] [-2.29594300e-01 9.73262681e-01 -6.79784198e-03 -1.16227507e+01] [-3.13844796e-02 -4.22501527e-04 9.99507297e-01 -4.97717695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:-11.63, Z:-4.98 [[ 9.73002989e-01 2.28622365e-01 3.15752721e-02 7.92381800e+01] [-2.28515170e-01 9.73515105e-01 -7.01124981e-03 -1.16279092e+01] [-3.23419329e-02 -3.93461661e-04 9.99476785e-01 -4.97940303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:-11.63, Z:-4.98 [[ 9.73566450e-01 2.26368231e-01 3.04268085e-02 7.92718535e+01] [-2.26267420e-01 9.74041751e-01 -6.76177481e-03 -1.16296151e+01] [-3.11676328e-02 -3.01558344e-04 9.99514126e-01 -4.98029181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:-11.63, Z:-4.98 [[ 9.73765324e-01 2.25476839e-01 3.06804351e-02 7.93037116e+01] [-2.25373623e-01 9.74248492e-01 -6.82686100e-03 -1.16346544e+01] [-3.14296666e-02 -2.66800308e-04 9.99505930e-01 -4.98288490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-11.64, Z:-4.98 [[ 9.74096477e-01 2.23978298e-01 3.11412030e-02 7.93369926e+01] [-2.23871127e-01 9.74594107e-01 -6.93143598e-03 -1.16381473e+01] [-3.19025241e-02 -2.19728838e-04 9.99490961e-01 -4.98424630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:-11.64, Z:-4.99 [[ 9.74190747e-01 2.23708773e-01 3.01126720e-02 7.93693918e+01] [-2.23608278e-01 9.74656014e-01 -6.70765933e-03 -1.16429759e+01] [-3.08500591e-02 -1.98903089e-04 9.99524004e-01 -4.98570613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:-11.65, Z:-4.99 [[ 9.74220546e-01 2.23743243e-01 2.88667341e-02 7.94010897e+01] [-2.23650671e-01 9.74648104e-01 -6.43816835e-03 -1.16469895e+01] [-2.95754043e-02 -1.83868550e-04 9.99562535e-01 -4.98681045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:-11.65, Z:-4.99 [[ 9.74079948e-01 2.24285985e-01 2.93947386e-02 7.94338533e+01] [-2.24190182e-01 9.74523348e-01 -6.55792118e-03 -1.16459336e+01] [-3.01167089e-02 -2.02072276e-04 9.99546369e-01 -4.98780896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-11.65, Z:-4.99 [[ 9.73961841e-01 2.24711175e-01 3.00536264e-02 7.94673033e+01] [-2.24611047e-01 9.74425391e-01 -6.71086745e-03 -1.16489455e+01] [-3.07930236e-02 -2.14247682e-04 9.99525759e-01 -4.99027379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.50, Y:-11.65, Z:-4.99 [[ 9.74167417e-01 2.23924328e-01 2.92530068e-02 7.95000764e+01] [-2.23828946e-01 9.74606517e-01 -6.53757575e-03 -1.16525141e+01] [-2.99740933e-02 -1.78976389e-04 9.99550660e-01 -4.99275565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:-11.66, Z:-4.99 [[ 9.74237761e-01 2.23578955e-01 2.95505571e-02 7.95314030e+01] [-2.23481263e-01 9.74685808e-01 -6.61068382e-03 -1.16573194e+01] [-3.02805184e-02 -1.63618028e-04 9.99541427e-01 -4.99461456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:79.57, Y:-11.66, Z:-5.00 [[ 9.74935597e-01 2.20481043e-01 2.98109334e-02 7.95653621e+01] [-2.20380006e-01 9.75391258e-01 -6.67436444e-03 -1.16582048e+01] [-3.05488946e-02 -6.26582011e-05 9.99533272e-01 -4.99794070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:-11.66, Z:-5.00 [[ 9.75170441e-01 2.19483921e-01 2.94859355e-02 7.95986764e+01] [-2.19384449e-01 9.75616117e-01 -6.60725731e-03 -1.16624149e+01] [-3.02171407e-02 -2.55536866e-05 9.99543358e-01 -4.99781879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:-11.67, Z:-5.00 [[ 9.75472551e-01 2.18048698e-01 3.01341597e-02 7.96305785e+01] [-2.17943897e-01 9.75937890e-01 -6.75966440e-03 -1.16659542e+01] [-3.08830043e-02 2.63108640e-05 9.99523006e-01 -5.00005581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.66, Y:-11.67, Z:-5.00 [[ 9.76329979e-01 2.14137928e-01 3.04092060e-02 7.96640979e+01] [-2.14029125e-01 9.76803421e-01 -6.82718778e-03 -1.16671529e+01] [-3.11657763e-02 1.57132344e-04 9.99514217e-01 -5.00215010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:-11.67, Z:-5.00 [[ 9.76585967e-01 2.12844666e-01 3.12569487e-02 7.96960869e+01] [-2.12728752e-01 9.77086026e-01 -7.02674173e-03 -1.16719545e+01] [-3.20363323e-02 2.12965673e-04 9.99486682e-01 -5.00365614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:79.73, Y:-11.68, Z:-5.01 [[ 9.77029521e-01 2.10846434e-01 3.09369647e-02 7.97283322e+01] [-2.10731750e-01 9.77519157e-01 -6.95891502e-03 -1.16750176e+01] [-3.17087381e-02 2.79664687e-04 9.99497112e-01 -5.00623647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:-11.68, Z:-5.01 [[ 9.77209588e-01 2.09977649e-01 3.11578063e-02 7.97609789e+01] [-2.09860828e-01 9.77706137e-01 -7.01020407e-03 -1.16794068e+01] [-3.19351646e-02 3.11635599e-04 9.99489894e-01 -5.00732533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:-11.68, Z:-5.01 [[ 9.77733041e-01 2.07528697e-01 3.11438695e-02 7.97940501e+01] [-2.07410538e-01 9.78228849e-01 -7.01334071e-03 -1.16807762e+01] [-3.19213011e-02 3.97608211e-04 9.99490306e-01 -5.00877062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:-11.69, Z:-5.01 [[ 9.77918317e-01 2.06681953e-01 3.09570093e-02 7.98259857e+01] [-2.06564501e-01 9.78408087e-01 -6.98016234e-03 -1.16852154e+01] [-3.17312618e-02 4.31409419e-04 9.99496344e-01 -5.01115258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:-11.69, Z:-5.01 [[ 9.78414688e-01 2.04323153e-01 3.09313359e-02 7.98577792e+01] [-2.04204646e-01 9.78903361e-01 -6.97660108e-03 -1.16881389e+01] [-3.17042698e-02 5.09686478e-04 9.99497163e-01 -5.01352047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:-11.69, Z:-5.02 [[ 9.78571381e-01 2.03541251e-01 3.11289541e-02 7.98899460e+01] [-2.03420642e-01 9.79066220e-01 -7.02705582e-03 -1.16936968e+01] [-3.19076031e-02 5.44203879e-04 9.99490675e-01 -5.01513442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:79.92, Y:-11.70, Z:-5.02 [[ 9.78727376e-01 2.02713367e-01 3.16229959e-02 7.99220811e+01] [-2.02588247e-01 9.79237942e-01 -7.14534716e-03 -1.16986674e+01] [-3.24148948e-02 5.86899593e-04 9.99474327e-01 -5.01781187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-11.70, Z:-5.02 [[ 9.78748124e-01 2.02594500e-01 3.17423750e-02 7.99551971e+01] [-2.02468155e-01 9.79262533e-01 -7.17893212e-03 -1.17032670e+01] [-3.25385307e-02 5.99546252e-04 9.99470302e-01 -5.01846099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-11.71, Z:-5.02 [[ 9.78705039e-01 2.02781693e-01 3.18752616e-02 7.99867601e+01] [-2.02654158e-01 9.79223785e-01 -7.21596627e-03 -1.17086859e+01] [-3.26762802e-02 6.02648231e-04 9.99465806e-01 -5.02013003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-11.71, Z:-5.02 [[ 9.78526157e-01 2.03575107e-01 3.23069012e-02 8.00194214e+01] [-2.03444331e-01 9.79059154e-01 -7.31958610e-03 -1.17144406e+01] [-3.31204529e-02 5.89750552e-04 9.99451193e-01 -5.02188434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:-11.72, Z:-5.02 [[ 9.77861521e-01 2.06639387e-01 3.29698376e-02 8.00510642e+01] [-2.06504671e-01 9.78417043e-01 -7.47732118e-03 -1.17184696e+01] [-3.38033601e-02 5.03359186e-04 9.99428376e-01 -5.02337109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:80.08, Y:-11.72, Z:-5.03 [[ 9.77493588e-01 2.08457906e-01 3.24281763e-02 8.00834218e+01] [-2.08328391e-01 9.78031241e-01 -7.36018666e-03 -1.17228297e+01] [-3.32500586e-02 4.38825465e-04 9.99446968e-01 -5.02530565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59264 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:80.12, Y:-11.73, Z:-5.03 [[ 9.76919858e-01 2.11019158e-01 3.31437118e-02 8.01165728e+01] [-2.10885090e-01 9.77481857e-01 -7.52981545e-03 -1.17276462e+01] [-3.39863123e-02 3.66511584e-04 9.99422231e-01 -5.02742075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:-11.73, Z:-5.03 [[ 9.76127121e-01 2.14467795e-01 3.43425262e-02 8.01477426e+01] [-2.14325642e-01 9.76731025e-01 -7.81182116e-03 -1.17328915e+01] [-3.52187949e-02 2.64846517e-04 9.99379591e-01 -5.02904655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:-11.74, Z:-5.03 [[ 9.74848211e-01 2.20261703e-01 3.39962767e-02 8.01807195e+01] [-2.20125843e-01 9.75440813e-01 -7.73525492e-03 -1.17350237e+01] [-3.48651361e-02 5.72403560e-05 9.99392025e-01 -5.03058494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:-11.74, Z:-5.03 [[ 9.74244479e-01 2.22939600e-01 3.38471505e-02 8.02122097e+01] [-2.22806287e-01 9.74832259e-01 -7.70874988e-03 -1.17408261e+01] [-3.47138798e-02 -3.11509034e-05 9.99397291e-01 -5.03289813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:-11.75, Z:-5.03 [[ 9.73476002e-01 2.26387425e-01 3.30636736e-02 8.02444849e+01] [-2.26262004e-01 9.74037326e-01 -7.53610579e-03 -1.17458593e+01] [-3.39113318e-02 -1.44834883e-04 9.99424835e-01 -5.03492835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:80.28, Y:-11.75, Z:-5.04 [[ 9.73223527e-01 2.27421439e-01 3.33984530e-02 8.02759993e+01] [-2.27293810e-01 9.73796415e-01 -7.62005805e-03 -1.17507373e+01] [-3.42562584e-02 -1.75241862e-04 9.99413067e-01 -5.03767393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:-11.76, Z:-5.04 [[ 9.72920258e-01 2.28522974e-01 3.46903792e-02 8.03073292e+01] [-2.28385556e-01 9.73538497e-01 -7.92666054e-03 -1.17560804e+01] [-3.55838437e-02 -2.10772930e-04 9.99366672e-01 -5.03895577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-11.76, Z:-5.04 [[ 9.72887397e-01 2.28552809e-01 3.54080021e-02 8.03383800e+01] [-2.28409618e-01 9.73531493e-01 -8.09191204e-03 -1.17581693e+01] [-3.63202344e-02 -2.15008999e-04 9.99340179e-01 -5.04100766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.37, Y:-11.76, Z:-5.04 [[ 9.73088855e-01 2.27897764e-01 3.40688898e-02 8.03688643e+01] [-2.27764799e-01 9.73685049e-01 -7.78595098e-03 -1.17632539e+01] [-3.49467695e-02 -1.83271706e-04 9.99389158e-01 -5.04316876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:80.40, Y:-11.77, Z:-5.05 [[ 9.73086076e-01 2.27909669e-01 3.40686268e-02 8.03990255e+01] [-2.27776671e-01 9.73682263e-01 -7.78710143e-03 -1.17701534e+01] [-3.49467734e-02 -1.82518430e-04 9.99389158e-01 -5.04509673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:-11.78, Z:-5.05 [[ 9.73204673e-01 2.27364203e-01 3.43246805e-02 8.04299432e+01] [-2.27228854e-01 9.73809782e-01 -7.84573224e-03 -1.17771715e+01] [-3.52095483e-02 -1.64054554e-04 9.99379938e-01 -5.04758165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:-11.78, Z:-5.05 [[ 9.73359881e-01 2.26721973e-01 3.41714648e-02 8.04614539e+01] [-2.26587404e-01 9.73959510e-01 -7.81157449e-03 -1.17812776e+01] [-3.50526787e-02 -1.39350294e-04 9.99385456e-01 -5.04995119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:-11.79, Z:-5.05 [[ 9.73339332e-01 2.26781675e-01 3.43600898e-02 8.04927046e+01] [-2.26645621e-01 9.73945610e-01 -7.85560849e-03 -1.17863686e+01] [-3.52463667e-02 -1.41391197e-04 9.99378644e-01 -5.05192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:-11.80, Z:-5.05 [[ 9.73464332e-01 2.26210356e-01 3.45842452e-02 8.05192741e+01] [-2.26539686e-01 9.73984252e-01 5.86913595e-03 -1.17985184e+01] [-3.23568509e-02 -1.35480985e-02 9.99384552e-01 -5.04503460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-11.79, Z:-5.06 [[ 9.73258376e-01 2.27373682e-01 3.27008053e-02 8.05520018e+01] [-2.26793685e-01 9.73726668e-01 -2.05182814e-02 -1.17889275e+01] [-3.65069633e-02 1.25532531e-02 9.99254551e-01 -5.05566217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:-11.80, Z:-5.06 [[ 9.73332472e-01 2.26263163e-01 3.78005367e-02 8.05805633e+01] [-2.26097972e-01 9.74066201e-01 -8.64542694e-03 -1.18008410e+01] [-3.87763668e-02 -1.31749916e-04 9.99247905e-01 -5.05674878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:-11.81, Z:-5.06 [[ 9.73337671e-01 2.26211966e-01 3.79726809e-02 8.06096745e+01] [-2.26045184e-01 9.74078092e-01 -8.68592540e-03 -1.18059980e+01] [-3.89532168e-02 -1.29203226e-04 9.99241027e-01 -5.05835502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:-11.81, Z:-5.06 [[ 9.73391453e-01 2.26055469e-01 3.75233682e-02 8.06406138e+01] [-2.25892549e-01 9.74114423e-01 -8.58175296e-03 -1.18115065e+01] [-3.84920064e-02 -1.22844310e-04 9.99258901e-01 -5.06041261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:-11.82, Z:-5.06 [[ 9.73428376e-01 2.25866080e-01 3.77055661e-02 8.06706157e+01] [-2.25701381e-01 9.74158355e-01 -8.62473277e-03 -1.18173931e+01] [-3.86792268e-02 -1.14638727e-04 9.99251672e-01 -5.06285376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:-11.83, Z:-5.07 [[ 9.73354671e-01 2.24871382e-01 4.48725543e-02 8.06961437e+01] [-2.25172535e-01 9.74317408e-01 1.70788609e-03 -1.18291526e+01] [-4.33360561e-02 -1.17664457e-02 9.98991260e-01 -5.06627184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:-11.82, Z:-5.07 [[ 9.73645543e-01 2.25074497e-01 3.68215578e-02 8.07305912e+01] [-2.24471856e-01 9.74279223e-01 -1.98086318e-02 -1.18235206e+01] [-4.03328966e-02 1.10211827e-02 9.99125513e-01 -5.06847353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:-11.84, Z:-5.07 [[ 9.73951238e-01 2.23449214e-01 3.85931850e-02 8.07584072e+01] [-2.23274292e-01 9.74715573e-01 -8.83977015e-03 -1.18365776e+01] [-3.95926181e-02 -7.36098495e-06 9.99215905e-01 -5.07026923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:80.79, Y:-11.84, Z:-5.07 [[ 9.74050670e-01 2.23088322e-01 3.81692748e-02 8.07894104e+01] [-2.22916940e-01 9.74798236e-01 -8.74284722e-03 -1.18425259e+01] [-3.91577689e-02 7.39825644e-06 9.99233040e-01 -5.07269287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.82, Y:-11.85, Z:-5.07 [[ 9.73948026e-01 2.23394428e-01 3.89893945e-02 8.08201583e+01] [-2.23215802e-01 9.74728131e-01 -8.93175301e-03 -1.18496602e+01] [-3.99993634e-02 -3.98575742e-06 9.99199705e-01 -5.07464159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-11.86, Z:-5.08 [[ 9.73461469e-01 2.25358015e-01 3.98313256e-02 8.08508642e+01] [-2.25173186e-01 9.74276017e-01 -9.12569206e-03 -1.18573825e+01] [-4.08632531e-02 -8.54369066e-05 9.99164745e-01 -5.07580424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-11.86, Z:-5.08 [[ 9.73108392e-01 2.26776939e-01 4.04014594e-02 8.08801168e+01] [-2.26587987e-01 9.73946712e-01 -9.25666473e-03 -1.18635501e+01] [-4.14480667e-02 -1.46747216e-04 9.99140649e-01 -5.07705437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:-11.87, Z:-5.07 [[ 9.72634585e-01 2.29043178e-01 3.90023848e-02 8.09109486e+01] [-2.28934918e-01 9.73414509e-01 -7.27989077e-03 -1.18702993e+01] [-3.96328966e-02 -1.84833422e-03 9.99212599e-01 -5.07426821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:80.94, Y:-11.87, Z:-5.08 [[ 9.71522802e-01 2.33227024e-01 4.18162703e-02 8.09424595e+01] [-2.32964517e-01 9.72421741e-01 -1.11126282e-02 -1.18702870e+01] [-4.32548156e-02 1.05446449e-03 9.99063516e-01 -5.08114676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:-11.88, Z:-5.08 [[ 9.70920438e-01 2.35619934e-01 4.23880807e-02 8.09707854e+01] [-2.35419772e-01 9.71845131e-01 -9.72485479e-03 -1.18759135e+01] [-4.34860195e-02 -5.36932010e-04 9.99053891e-01 -5.08267822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-11.88, Z:-5.08 [[ 9.70366405e-01 2.37995053e-01 4.18018445e-02 8.09988145e+01] [-2.37802670e-01 9.71266158e-01 -9.58855041e-03 -1.18796159e+01] [-4.28827445e-02 -6.36183033e-04 9.99079909e-01 -5.08425274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-11.88, Z:-5.09 [[ 9.69331511e-01 2.42163794e-01 4.18702692e-02 8.10287013e+01] [-2.41974785e-01 9.70235032e-01 -9.60137957e-03 -1.18799919e+01] [-4.29491084e-02 -8.24629617e-04 9.99076921e-01 -5.08620729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-11.88, Z:-5.09 [[ 9.68946016e-01 2.43664315e-01 4.20870449e-02 8.10571939e+01] [-2.43474848e-01 9.69859214e-01 -9.64897998e-03 -1.18825375e+01] [-4.31696204e-02 -8.97796146e-04 9.99067354e-01 -5.08802238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:-11.89, Z:-5.09 [[ 9.68671394e-01 2.44599251e-01 4.29759982e-02 8.10851416e+01] [-2.44402697e-01 9.69623784e-01 -9.85082846e-03 -1.18852433e+01] [-4.40800553e-02 -9.61234146e-04 9.99027540e-01 -5.08973023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-11.89, Z:-5.09 [[ 9.68530993e-01 2.45045235e-01 4.35952747e-02 8.11127927e+01] [-2.44843540e-01 9.69511133e-01 -9.99023623e-03 -1.18884816e+01] [-4.47141639e-02 -9.98167943e-04 9.98999323e-01 -5.09199780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:-11.89, Z:-5.09 [[ 9.68701145e-01 2.44307411e-01 4.39543073e-02 8.11409492e+01] [-2.44101761e-01 9.69697344e-01 -1.00693584e-02 -1.18896592e+01] [-4.50823939e-02 -9.75124871e-04 9.98982796e-01 -5.09311506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:-11.89, Z:-5.09 [[ 9.68862646e-01 2.43508361e-01 4.48201996e-02 8.11673874e+01] [-2.43305679e-01 9.69898043e-01 -1.00066327e-02 -1.18931665e+01] [-4.59077226e-02 -1.20995649e-03 9.98944952e-01 -5.09485349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.20, Y:-11.90, Z:-5.10 [[ 9.69415424e-01 2.41317919e-01 4.47146318e-02 8.11962924e+01] [-2.41095599e-01 9.70445850e-01 -1.03809530e-02 -1.18951960e+01] [-4.58982389e-02 -7.17044979e-04 9.98945863e-01 -5.09712482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-11.90, Z:-5.10 [[ 9.70171041e-01 2.38179056e-01 4.51540607e-02 8.12247310e+01] [-2.37955822e-01 9.71220995e-01 -1.03346762e-02 -1.18970003e+01] [-4.63160752e-02 -7.18268099e-04 9.98926577e-01 -5.09853407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:-11.90, Z:-5.10 [[ 9.70621382e-01 2.36340593e-01 4.51359848e-02 8.12522552e+01] [-2.36115705e-01 9.71670069e-01 -1.03272045e-02 -1.19015028e+01] [-4.62980231e-02 -6.33509346e-04 9.98927471e-01 -5.10053711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:-11.91, Z:-5.10 [[ 9.71017075e-01 2.34587206e-01 4.57677173e-02 8.12807361e+01] [-2.34354210e-01 9.72094917e-01 -1.04678643e-02 -1.19061449e+01] [-4.69461923e-02 -5.61382307e-04 9.98897262e-01 -5.10241467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:-11.91, Z:-5.10 [[ 9.71726523e-01 2.31629042e-01 4.57771972e-02 8.13097695e+01] [-2.31392778e-01 9.72804096e-01 -1.04676768e-02 -1.19086261e+01] [-4.69568630e-02 -4.20793636e-04 9.98896829e-01 -5.10427481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-11.91, Z:-5.11 [[ 9.72068605e-01 2.30199252e-01 4.57267059e-02 8.13373654e+01] [-2.29962031e-01 9.73143453e-01 -1.04539473e-02 -1.19130135e+01] [-4.69051353e-02 -3.53452182e-04 9.98899286e-01 -5.10611847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:-11.92, Z:-5.11 [[ 9.72378605e-01 2.28762536e-01 4.63416629e-02 8.13660384e+01] [-2.28517413e-01 9.73482212e-01 -1.05912567e-02 -1.19176759e+01] [-4.75356673e-02 -2.91165497e-04 9.98869499e-01 -5.10763260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:-11.92, Z:-5.11 [[ 9.72542208e-01 2.27969411e-01 4.68145485e-02 8.13934386e+01] [-2.27718444e-01 9.73668260e-01 -1.06971462e-02 -1.19219541e+01] [-4.80204621e-02 -2.57109951e-04 9.98846319e-01 -5.10875602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:-11.93, Z:-5.10 [[ 9.73030316e-01 2.25894743e-01 4.67286758e-02 8.14192107e+01] [-2.26289083e-01 9.74054736e-01 3.25909185e-03 -1.19324409e+01] [-4.47800763e-02 -1.37453844e-02 9.98902302e-01 -5.10333596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:-11.93, Z:-5.10 [[ 9.73013389e-01 2.26684251e-01 4.31183887e-02 8.14492829e+01] [-2.26478376e-01 9.73968234e-01 -9.66567445e-03 -1.19301471e+01] [-4.41869971e-02 -3.60551986e-04 9.99023213e-01 -5.10489159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:-11.93, Z:-5.11 [[ 9.72893029e-01 2.27238661e-01 4.29155572e-02 8.14787661e+01] [-2.26397906e-01 9.73749127e-01 -2.35929320e-02 -1.19273821e+01] [-4.71502126e-02 1.32374068e-02 9.98800094e-01 -5.11373695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:-11.94, Z:-5.12 [[ 9.72998605e-01 2.26173426e-01 4.60358109e-02 8.15046110e+01] [-2.25929110e-01 9.74087035e-01 -1.05112435e-02 -1.19398552e+01] [-4.72202505e-02 -1.73404511e-04 9.98884487e-01 -5.11633920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-11.95, Z:-5.12 [[ 9.73066621e-01 2.25891864e-01 4.59806228e-02 8.15328050e+01] [-2.25647969e-01 9.74152370e-01 -1.04954665e-02 -1.19451159e+01] [-4.71629732e-02 -1.62646004e-04 9.98887195e-01 -5.11855678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:-11.96, Z:-5.11 [[ 9.73642830e-01 2.23127925e-01 4.72606362e-02 8.15594543e+01] [-2.23618658e-01 9.74662322e-01 5.29661237e-03 -1.19566132e+01] [-4.48813393e-02 -1.57253687e-02 9.98868549e-01 -5.11192533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:-11.94, Z:-5.12 [[ 9.73766063e-01 2.23462355e-01 4.29445023e-02 8.15908974e+01] [-2.22514573e-01 9.74588681e-01 -2.57714428e-02 -1.19437851e+01] [-4.76121731e-02 1.55395788e-02 9.98745014e-01 -5.12051298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:-11.96, Z:-5.12 [[ 9.74292186e-01 2.20481072e-01 4.62907516e-02 8.16169966e+01] [-2.20228211e-01 9.75391249e-01 -1.05568133e-02 -1.19586279e+01] [-4.74791715e-02 9.08912853e-05 9.98872224e-01 -5.12334634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:-11.97, Z:-5.12 [[ 9.74965903e-01 2.17362824e-01 4.68496535e-02 8.16422196e+01] [-2.17861035e-01 9.75962906e-01 5.74235384e-03 -1.19743683e+01] [-4.44753498e-02 -1.58053132e-02 9.98885447e-01 -5.11708442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:-11.96, Z:-5.13 [[ 9.75246948e-01 2.17028012e-01 4.23347742e-02 8.16735424e+01] [-2.16074886e-01 9.76031167e-01 -2.59770091e-02 -1.19635795e+01] [-4.69577977e-02 1.61865173e-02 9.98765719e-01 -5.12631137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:-11.98, Z:-5.13 [[ 9.76185026e-01 2.12040194e-01 4.58448673e-02 8.16992125e+01] [-2.11783246e-01 9.77260823e-01 -1.04470090e-02 -1.19803551e+01] [-4.70175786e-02 4.89038981e-04 9.98893942e-01 -5.12878353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-11.99, Z:-5.13 [[ 9.76616596e-01 2.10041737e-01 4.58529582e-02 8.17274015e+01] [-2.09782606e-01 9.77692246e-01 -1.04465254e-02 -1.19877070e+01] [-4.70242880e-02 5.83096991e-04 9.98893576e-01 -5.13028089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:-12.00, Z:-5.13 [[ 9.76894033e-01 2.08707421e-01 4.60354350e-02 8.17546793e+01] [-2.08444851e-01 9.77977910e-01 -1.04857490e-02 -1.19955675e+01] [-4.72100922e-02 6.47616264e-04 9.98884772e-01 -5.13247528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.78, Y:-12.01, Z:-5.13 [[ 9.77101519e-01 2.07724812e-01 4.60762849e-02 8.17818152e+01] [-2.07460805e-01 9.78187059e-01 -1.04925013e-02 -1.20050581e+01] [-4.72507784e-02 6.93215828e-04 9.98882818e-01 -5.13481448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:-12.01, Z:-5.14 [[ 9.77074538e-01 2.07748404e-01 4.65397503e-02 8.18099783e+01] [-2.07479177e-01 9.78182046e-01 -1.05960448e-02 -1.20141235e+01] [-4.77256596e-02 6.97096477e-04 9.98860238e-01 -5.13615736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.84, Y:-12.02, Z:-5.14 [[ 9.76863707e-01 2.08841464e-01 4.60710470e-02 8.18386885e+01] [-2.08578905e-01 9.77949303e-01 -1.04881836e-02 -1.20220895e+01] [-4.72455159e-02 6.36077415e-04 9.98883105e-01 -5.13872588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:-12.03, Z:-5.14 [[ 9.76370430e-01 2.10820143e-01 4.74936961e-02 8.18665976e+01] [-2.10543507e-01 9.77524710e-01 -1.08107850e-02 -1.20297018e+01] [-4.87053927e-02 5.55841493e-04 9.98813033e-01 -5.13937270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.89, Y:-12.04, Z:-5.14 [[ 9.76043504e-01 2.12400201e-01 4.71723760e-02 8.18949782e+01] [-2.12129182e-01 9.77182650e-01 -1.07368198e-02 -1.20367890e+01] [-4.83765300e-02 4.72965709e-04 9.98829058e-01 -5.14091113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:-12.05, Z:-5.14 [[ 9.74917789e-01 2.17295932e-01 4.81433457e-02 8.19214854e+01] [-2.17019736e-01 9.76105744e-01 -1.09549177e-02 -1.20479053e+01] [-4.93734554e-02 2.32088023e-04 9.98780360e-01 -5.14109501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:-12.06, Z:-5.14 [[ 9.74386206e-01 2.19725490e-01 4.78772384e-02 8.19497144e+01] [-2.19455329e-01 9.75561734e-01 -1.08931626e-02 -1.20553916e+01] [-4.91007073e-02 1.07232253e-04 9.98793827e-01 -5.14258639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:81.98, Y:-12.06, Z:-5.15 [[ 9.73338169e-01 2.24490504e-01 4.70831499e-02 8.19767296e+01] [-2.24234850e-01 9.74476268e-01 -1.07114898e-02 -1.20645129e+01] [-4.82860399e-02 -1.31781138e-04 9.98833540e-01 -5.14608667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:-12.08, Z:-5.15 [[ 9.72805762e-01 2.26111910e-01 5.02230344e-02 8.20015593e+01] [-2.26061004e-01 9.74089647e-01 -6.76629471e-03 -1.20768978e+01] [-5.04516776e-02 -4.77117908e-03 9.98715107e-01 -5.14739992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:-12.08, Z:-5.15 [[ 9.72626856e-01 2.27675019e-01 4.64874655e-02 8.20306776e+01] [-2.27203009e-01 9.73727737e-01 -1.52671858e-02 -1.20805654e+01] [-4.87420914e-02 4.28718290e-03 9.98802197e-01 -5.14810106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:-12.09, Z:-5.15 [[ 9.72423289e-01 2.28454677e-01 4.69191506e-02 8.20582392e+01] [-2.28205844e-01 9.73554491e-01 -1.06651321e-02 -1.20901647e+01] [-4.81148491e-02 -3.36201538e-04 9.98841753e-01 -5.15030464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:-12.10, Z:-5.15 [[ 9.71918589e-01 2.30578334e-01 4.69881609e-02 8.20848018e+01] [-2.30331350e-01 9.73053665e-01 -1.06786987e-02 -1.20983356e+01] [-4.81842787e-02 -4.44020740e-04 9.98838364e-01 -5.15257154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:-12.11, Z:-5.15 [[ 9.71766865e-01 2.31246620e-01 4.68418759e-02 8.21125546e+01] [-2.31002091e-01 9.72895047e-01 -1.06424780e-02 -1.21075315e+01] [-4.80332661e-02 -4.78563843e-04 9.98845622e-01 -5.15418860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:-12.12, Z:-5.16 [[ 9.71651546e-01 2.31758027e-01 4.67064193e-02 8.21395008e+01] [-2.31515626e-01 9.72773335e-01 -1.06090956e-02 -1.21157853e+01] [-4.78935023e-02 -5.04921716e-04 9.98852320e-01 -5.15621244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:-12.14, Z:-5.15 [[ 9.71785941e-01 2.30905490e-01 4.81117381e-02 8.21648669e+01] [-2.31661053e-01 9.72737794e-01 1.06929844e-02 -1.21350614e+01] [-4.43310372e-02 -2.15369078e-02 9.98784722e-01 -5.14789437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:-12.13, Z:-5.15 [[ 9.71690777e-01 2.32179703e-01 4.36991910e-02 8.21959493e+01] [-2.31973092e-01 9.72672721e-01 -9.81136251e-03 -1.21297803e+01] [-4.47830102e-02 -6.03426017e-04 9.98996555e-01 -5.15031338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:-12.13, Z:-5.16 [[ 9.71493912e-01 2.33434150e-01 4.13288750e-02 8.22253095e+01] [-2.32276591e-01 9.72157052e-01 -3.09556354e-02 -1.21262944e+01] [-4.74042597e-02 2.04734812e-02 9.98665947e-01 -5.16243901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.25, Y:-12.15, Z:-5.16 [[ 9.71724973e-01 2.31616488e-01 4.58735241e-02 8.22492306e+01] [-2.31382953e-01 9.72807049e-01 -1.04103107e-02 -1.21461474e+01] [-4.70372872e-02 -4.98392640e-04 9.98893010e-01 -5.16475263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:-12.16, Z:-5.17 [[ 9.71852428e-01 2.30818054e-01 4.71792815e-02 8.22772539e+01] [-2.30570262e-01 9.72996814e-01 -1.07030504e-02 -1.21557419e+01] [-4.83757478e-02 -4.76353765e-04 9.98829095e-01 -5.16539443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:-12.18, Z:-5.16 [[ 9.72395760e-01 2.27925394e-01 4.99649971e-02 8.23052690e+01] [-2.28537431e-01 9.73511218e-01 6.82278304e-03 -1.21758185e+01] [-4.70863997e-02 -1.80533174e-02 9.98727665e-01 -5.15971840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:-12.17, Z:-5.16 [[ 9.72490264e-01 2.28187211e-01 4.68325029e-02 8.23361868e+01] [-2.28029088e-01 9.73614885e-01 -8.76308669e-03 -1.21745672e+01] [-4.75964462e-02 -2.15715644e-03 9.98864318e-01 -5.16236414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.37, Y:-12.18, Z:-5.16 [[ 9.72725778e-01 2.27616397e-01 4.46691938e-02 8.23666538e+01] [-2.27483512e-01 9.73748213e-01 -8.10365220e-03 -1.21833354e+01] [-4.53410717e-02 -2.27887368e-03 9.98968965e-01 -5.16268748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:-12.18, Z:-5.17 [[ 9.73038976e-01 2.26862140e-01 4.15778902e-02 8.23984599e+01] [-2.25670305e-01 9.73695214e-01 -3.14729153e-02 -1.21820545e+01] [-4.76242056e-02 2.12414782e-02 9.98639442e-01 -5.17264452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:-12.21, Z:-5.17 [[ 9.73382774e-01 2.23841002e-01 4.92054952e-02 8.24240824e+01] [-2.24465998e-01 9.74453101e-01 7.49465251e-03 -1.22135812e+01] [-4.62708369e-02 -1.83401263e-02 9.98760557e-01 -5.16742241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:-12.20, Z:-5.18 [[ 9.73282135e-01 2.25574097e-01 4.28743698e-02 8.24587840e+01] [-2.24502724e-01 9.74059249e-01 -2.84096356e-02 -1.22026035e+01] [-4.81706543e-02 1.80251780e-02 9.98676465e-01 -5.17679181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.49, Y:-12.22, Z:-5.18 [[ 9.73490647e-01 2.23925167e-01 4.66206018e-02 8.24863060e+01] [-2.23674029e-01 9.74606335e-01 -1.06028517e-02 -1.22210183e+01] [-4.78109792e-02 -1.06040833e-04 9.98856396e-01 -5.17844281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:-12.24, Z:-5.17 [[ 9.73632589e-01 2.22327271e-01 5.10897790e-02 8.25145920e+01] [-2.22847537e-01 9.74842215e-01 4.65094373e-03 -1.22408181e+01] [-4.87704417e-02 -1.59135418e-02 9.98683235e-01 -5.17347175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.55, Y:-12.24, Z:-5.17 [[ 9.73566856e-01 2.23314646e-01 4.79389775e-02 8.25469139e+01] [-2.23211239e-01 9.74740716e-01 -7.56825932e-03 -1.22422014e+01] [-4.84181764e-02 -3.33231212e-03 9.98821594e-01 -5.17476752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:-12.24, Z:-5.18 [[ 9.73500853e-01 2.24206843e-01 4.50264373e-02 8.25805245e+01] [-2.23051339e-01 9.74366470e-01 -2.92930390e-02 -1.22393784e+01] [-5.04399505e-02 1.84735913e-02 9.98556227e-01 -5.18342109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.61, Y:-12.26, Z:-5.19 [[ 9.73562941e-01 2.23434546e-01 4.74573848e-02 8.26100367e+01] [-2.23172674e-01 9.74718934e-01 -1.08147054e-02 -1.22593774e+01] [-4.86739903e-02 -6.23950983e-05 9.98814717e-01 -5.18501479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:-12.28, Z:-5.18 [[ 9.73211484e-01 2.23988045e-01 5.18532789e-02 8.26376128e+01] [-2.24510640e-01 9.74461668e-01 4.40799175e-03 -1.22797203e+01] [-4.95416952e-02 -1.59315210e-02 9.98644986e-01 -5.18232374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:-12.28, Z:-5.19 [[ 9.72639908e-01 2.26784131e-01 5.04040493e-02 8.26696304e+01] [-2.26317546e-01 9.73940302e-01 -1.48545190e-02 -1.22780776e+01] [-5.24593041e-02 3.04077725e-03 9.98618433e-01 -5.19107621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:-12.29, Z:-5.19 [[ 9.72591555e-01 2.27314774e-01 4.89250574e-02 8.27006388e+01] [-2.27224288e-01 9.73813746e-01 -7.47731564e-03 -1.22907825e+01] [-4.93435978e-02 -3.84458731e-03 9.98774463e-01 -5.18756949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:-12.30, Z:-5.19 [[ 9.72255115e-01 2.28759157e-01 4.88798431e-02 8.27311202e+01] [-2.28564889e-01 9.73481319e-01 -9.60278940e-03 -1.22983328e+01] [-4.97803401e-02 -1.83585482e-03 9.98758503e-01 -5.18939401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-12.30, Z:-5.20 [[ 9.71641861e-01 2.32062963e-01 4.53748377e-02 8.27638790e+01] [-2.30985489e-01 9.72560748e-01 -2.77722029e-02 -1.22977072e+01] [-5.05746858e-02 1.65037059e-02 9.98583912e-01 -5.19754203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:-12.32, Z:-5.20 [[ 9.71439449e-01 2.32341274e-01 4.81967746e-02 8.27929970e+01] [-2.32079462e-01 9.72634215e-01 -1.10365956e-02 -1.23155840e+01] [-4.94420888e-02 -4.64097167e-04 9.98776884e-01 -5.19862706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-12.32, Z:-5.20 [[ 9.71108273e-01 2.33789700e-01 4.78654243e-02 8.28249056e+01] [-2.33532791e-01 9.72287046e-01 -1.09697459e-02 -1.23238858e+01] [-4.91035456e-02 -5.25335147e-04 9.98793555e-01 -5.20093537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-12.33, Z:-5.20 [[ 9.70188038e-01 2.37605448e-01 4.77370070e-02 8.28552872e+01] [-2.37354029e-01 9.71361494e-01 -1.09504903e-02 -1.23328234e+01] [-4.89717866e-02 -7.06536216e-04 9.98799912e-01 -5.20330396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:-12.35, Z:-5.20 [[ 9.69665943e-01 2.39110132e-01 5.07375955e-02 8.28831502e+01] [-2.39623336e-01 9.70856866e-01 4.19560439e-03 -1.23491365e+01] [-4.82557315e-02 -1.62262466e-02 9.98703206e-01 -5.20059372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:-12.34, Z:-5.21 [[ 9.68945410e-01 2.43513164e-01 4.29666228e-02 8.29188590e+01] [-2.42589185e-01 9.69790575e-01 -2.56267136e-02 -1.23390678e+01] [-4.79090679e-02 1.44076485e-02 9.98747786e-01 -5.20773624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:-12.35, Z:-5.21 [[ 9.68287635e-01 2.45528738e-01 4.62027683e-02 8.29467422e+01] [-2.45301158e-01 9.69388744e-01 -1.06209394e-02 -1.23533000e+01] [-4.73961894e-02 -1.04946828e-03 9.98875618e-01 -5.20933951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:-12.37, Z:-5.21 [[ 9.67595577e-01 2.47532691e-01 4.98634792e-02 8.29749549e+01] [-2.48019783e-01 9.68747778e-01 3.73221253e-03 -1.23667727e+01] [-4.73812901e-02 -1.59784017e-02 9.98749070e-01 -5.20749115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:-12.36, Z:-5.21 [[ 9.66175454e-01 2.53463049e-01 4.75549624e-02 8.30062604e+01] [-2.53193920e-01 9.67344789e-01 -1.17003259e-02 -1.23631825e+01] [-4.89676453e-02 -7.36059647e-04 9.98800094e-01 -5.21038636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:-12.36, Z:-5.22 [[ 9.65776678e-01 2.55524868e-01 4.45247203e-02 8.30389461e+01] [-2.54633139e-01 9.66720697e-01 -2.47600021e-02 -1.23611003e+01] [-4.93697650e-02 1.25751633e-02 9.98701403e-01 -5.21575241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:-12.37, Z:-5.22 [[ 9.65552185e-01 2.55601567e-01 4.87526186e-02 8.30659458e+01] [-2.55360428e-01 9.66780854e-01 -1.12174910e-02 -1.23734674e+01] [-5.00003066e-02 -1.61841668e-03 9.98747891e-01 -5.21748266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:-12.38, Z:-5.22 [[ 9.65533266e-01 2.55721454e-01 4.84979328e-02 8.30958432e+01] [-2.55483020e-01 9.66749152e-01 -1.11580819e-02 -1.23780308e+01] [-4.97386964e-02 -1.61689909e-03 9.98760956e-01 -5.21876417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.13, Y:-12.38, Z:-5.22 [[ 9.66042297e-01 2.53835444e-01 4.82684986e-02 8.31262422e+01] [-2.53596910e-01 9.67246235e-01 -1.11052952e-02 -1.23805856e+01] [-4.95064411e-02 -1.51255722e-03 9.98772659e-01 -5.22158018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:-12.39, Z:-5.22 [[ 9.66476934e-01 2.52132887e-01 4.84906600e-02 8.31551624e+01] [-2.51890022e-01 9.67691561e-01 -1.11561875e-02 -1.23856519e+01] [-4.97368442e-02 -1.43211553e-03 9.98761331e-01 -5.22343691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:-12.39, Z:-5.23 [[ 9.67094322e-01 2.49866352e-01 4.79101031e-02 8.31844156e+01] [-2.49626437e-01 9.68279464e-01 -1.10237201e-02 -1.23909987e+01] [-4.91448256e-02 -1.29865125e-03 9.98790819e-01 -5.22538164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.21, Y:-12.40, Z:-5.23 [[ 9.68456577e-01 2.44700928e-01 4.70458813e-02 8.32133149e+01] [-2.44463526e-01 9.69598071e-01 -1.08242887e-02 -1.23955043e+01] [-4.82643093e-02 -1.01814844e-03 9.98834080e-01 -5.22902284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:-12.40, Z:-5.23 [[ 9.69178646e-01 2.41703251e-01 4.76685588e-02 8.32415548e+01] [-2.41455905e-01 9.70349815e-01 -1.09673415e-02 -1.24009306e+01] [-4.89060193e-02 -8.80541812e-04 9.98802997e-01 -5.22936234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:-12.41, Z:-5.23 [[ 9.69841944e-01 2.39036259e-01 4.76263597e-02 8.32711600e+01] [-2.38786232e-01 9.71010355e-01 -1.09556676e-02 -1.24063232e+01] [-4.88644902e-02 -7.47253063e-04 9.98805138e-01 -5.23048520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:-12.41, Z:-5.23 [[ 9.70430982e-01 2.36560345e-01 4.79886595e-02 8.32990043e+01] [-2.36303531e-01 9.71616595e-01 -1.10378007e-02 -1.24117163e+01] [-4.92376839e-02 -6.28465906e-04 9.98786892e-01 -5.23194631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:-12.42, Z:-5.23 [[ 9.70931053e-01 2.34462812e-01 4.81672080e-02 8.33276329e+01] [-2.34201561e-01 9.72124948e-01 -1.10776709e-02 -1.24180097e+01] [-4.94218464e-02 -5.25180579e-04 9.98777856e-01 -5.23361078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.36, Y:-12.42, Z:-5.24 [[ 9.71656700e-01 2.31462240e-01 4.80467281e-02 8.33596470e+01] [-2.31198852e-01 9.72843816e-01 -1.10454120e-02 -1.24230989e+01] [-4.92985581e-02 -3.75999747e-04 9.98784016e-01 -5.23512321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:-12.43, Z:-5.24 [[ 9.71859250e-01 2.30426630e-01 4.89199932e-02 8.33902422e+01] [-2.30151789e-01 9.73089649e-01 -1.12555997e-02 -1.24291623e+01] [-5.01971290e-02 -3.20165226e-04 9.98739278e-01 -5.23663681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.42, Y:-12.44, Z:-5.24 [[ 9.72200681e-01 2.29211310e-01 4.78331655e-02 8.34200603e+01] [-2.28946568e-01 9.73376657e-01 -1.10159962e-02 -1.24351702e+01] [-4.90846777e-02 -2.41480032e-04 9.98794592e-01 -5.23923241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-12.44, Z:-5.24 [[ 9.72539747e-01 2.27727500e-01 4.80273492e-02 8.34510150e+01] [-2.27458900e-01 9.73724888e-01 -1.10585534e-02 -1.24423648e+01] [-4.92837619e-02 -1.69365268e-04 9.98784803e-01 -5.24128658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:83.48, Y:-12.45, Z:-5.24 [[ 9.72714529e-01 2.27198514e-01 4.69816975e-02 8.34816489e+01] [-2.26940456e-01 9.73848458e-01 -1.08264186e-02 -1.24486835e+01] [-4.82127998e-02 -1.31033155e-04 9.98837078e-01 -5.24372900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-12.46, Z:-5.25 [[ 9.72858554e-01 2.26470760e-01 4.75103077e-02 8.35125880e+01] [-2.26205474e-01 9.74017961e-01 -1.09588249e-02 -1.24552387e+01] [-4.87577464e-02 -8.57051639e-05 9.98810630e-01 -5.24528500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:-12.46, Z:-5.25 [[ 9.73097219e-01 2.25367596e-01 4.78669847e-02 8.35434102e+01] [-2.25097027e-01 9.74273804e-01 -1.10400419e-02 -1.24608261e+01] [-4.91236170e-02 -3.16819054e-05 9.98792706e-01 -5.24675686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:-12.47, Z:-5.25 [[ 9.73149632e-01 2.25015356e-01 4.84549609e-02 8.35734401e+01] [-2.24737136e-01 9.74355217e-01 -1.11861586e-02 -1.24677923e+01] [-4.97294014e-02 -3.82297381e-06 9.98762728e-01 -5.24892209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-12.48, Z:-5.25 [[ 9.73103974e-01 2.25227470e-01 4.83863977e-02 8.36037296e+01] [-2.24950348e-01 9.74306208e-01 -1.11693530e-02 -1.24754704e+01] [-4.96588127e-02 -1.55952345e-05 9.98766240e-01 -5.25110818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.63, Y:-12.48, Z:-5.25 [[ 9.73195567e-01 2.25167413e-01 4.67976922e-02 8.36344272e+01] [-2.24907653e-01 9.74320089e-01 -1.08125638e-02 -1.24825728e+01] [-4.80305686e-02 -2.41991465e-06 9.98845866e-01 -5.25284499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:-12.49, Z:-5.25 [[ 9.72939242e-01 2.26050309e-01 4.78590508e-02 8.36644628e+01] [-2.25779658e-01 9.74115627e-01 -1.10585079e-02 -1.24889258e+01] [-4.91200285e-02 -4.63438604e-05 9.98792882e-01 -5.25472889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:83.69, Y:-12.50, Z:-5.26 [[ 9.72810443e-01 2.26842085e-01 4.67173569e-02 8.36946780e+01] [-2.26584954e-01 9.73931549e-01 -1.07980016e-02 -1.24951578e+01] [-4.79489490e-02 -8.10414754e-05 9.98849784e-01 -5.25750428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.72, Y:-12.50, Z:-5.26 [[ 9.72592797e-01 2.27774634e-01 4.67115271e-02 8.37243875e+01] [-2.27518562e-01 9.73713870e-01 -1.07982987e-02 -1.25015395e+01] [-4.79432404e-02 -1.25391938e-04 9.98850054e-01 -5.25963727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.76, Y:-12.51, Z:-5.26 [[ 9.71962210e-01 2.30624888e-01 4.58434691e-02 8.37551680e+01] [-2.30381440e-01 9.73042698e-01 -1.05971465e-02 -1.25074902e+01] [-4.70516186e-02 -2.61458479e-04 9.98892425e-01 -5.26099987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-12.51, Z:-5.26 [[ 9.71609882e-01 2.31995123e-01 4.63950354e-02 8.37841754e+01] [-2.31747246e-01 9.72716893e-01 -1.07265947e-02 -1.25134763e+01] [-4.76177523e-02 -3.29856293e-04 9.98865577e-01 -5.26303686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-12.52, Z:-5.26 [[ 9.71252044e-01 2.33445776e-01 4.66104824e-02 8.38136128e+01] [-2.33197278e-01 9.72369738e-01 -1.07760081e-02 -1.25192329e+01] [-4.78382361e-02 -4.03217715e-04 9.98855015e-01 -5.26472741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-12.52, Z:-5.27 [[ 9.70956064e-01 2.34622291e-01 4.68689881e-02 8.38414036e+01] [-2.34372452e-01 9.72086501e-01 -1.08346226e-02 -1.25241008e+01] [-4.81027546e-02 -4.64857159e-04 9.98842284e-01 -5.26635912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-12.53, Z:-5.27 [[ 9.70601187e-01 2.36235884e-01 4.61079553e-02 8.38707950e+01] [-2.35995981e-01 9.71695589e-01 -1.06573203e-02 -1.25269502e+01] [-4.73205383e-02 -5.37284382e-04 9.98879611e-01 -5.26843665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-12.53, Z:-5.27 [[ 9.70559474e-01 2.36497998e-01 4.56399397e-02 8.38991083e+01] [-2.36263277e-01 9.71631823e-01 -1.05482061e-02 -1.25318526e+01] [-4.68398475e-02 -5.45380354e-04 9.98902263e-01 -5.27049961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-12.54, Z:-5.27 [[ 9.70542818e-01 2.36461623e-01 4.61794354e-02 8.39273725e+01] [-2.36221363e-01 9.71640673e-01 -1.06710468e-02 -1.25371159e+01] [-4.73931107e-02 -5.51861284e-04 9.98876163e-01 -5.27245526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-12.55, Z:-5.27 [[ 9.70793325e-01 2.35159074e-01 4.75450286e-02 8.39544400e+01] [-2.35729523e-01 9.71795676e-01 6.68999115e-03 -1.25518539e+01] [-4.46308411e-02 -1.77023657e-02 9.98846692e-01 -5.26612980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:-12.54, Z:-5.28 [[ 9.71121655e-01 2.34797334e-01 4.23431611e-02 8.39876463e+01] [-2.33794445e-01 9.71901931e-01 -2.73275297e-02 -1.25372821e+01] [-4.75698312e-02 1.66387600e-02 9.98729324e-01 -5.27659887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:-12.55, Z:-5.28 [[ 9.71817980e-01 2.31164820e-01 4.61805088e-02 8.40145467e+01] [-2.30918599e-01 9.72914559e-01 -1.06705695e-02 -1.25537240e+01] [-4.73963496e-02 -2.94087078e-04 9.98876118e-01 -5.27822824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.04, Y:-12.57, Z:-5.27 [[ 9.73177362e-01 2.24962962e-01 4.81402946e-02 8.40420269e+01] [-2.25534465e-01 9.74212026e-01 6.71811397e-03 -1.25706049e+01] [-4.53875272e-02 -1.73952120e-02 9.98817991e-01 -5.27151551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.07, Y:-12.57, Z:-5.27 [[ 9.73086470e-01 2.26110108e-01 4.44628041e-02 8.40742289e+01] [-2.25881944e-01 9.74101737e-01 -1.01564928e-02 -1.25680716e+01] [-4.56077804e-02 -1.60198867e-04 9.98959411e-01 -5.27406523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:-12.56, Z:-5.28 [[ 9.73549671e-01 2.24107850e-01 4.44602113e-02 8.41065247e+01] [-2.23020944e-01 9.74407822e-01 -2.81257133e-02 -1.25645295e+01] [-4.96255707e-02 1.74662207e-02 9.98615158e-01 -5.28346930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-12.58, Z:-5.28 [[ 9.74266726e-01 2.20202298e-01 4.81175080e-02 8.41340855e+01] [-2.19921615e-01 9.75454195e-01 -1.11174312e-02 -1.25808030e+01] [-4.93845089e-02 2.49263254e-04 9.98779810e-01 -5.28474249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:-12.59, Z:-5.29 [[ 9.75464047e-01 2.14681505e-01 4.88031174e-02 8.41633681e+01] [-2.14385858e-01 9.76683963e-01 -1.12756404e-02 -1.25886984e+01] [-5.00858936e-02 5.36283646e-04 9.98744770e-01 -5.28744057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.20, Y:-12.60, Z:-5.29 [[ 9.75933116e-01 2.12632740e-01 4.83928852e-02 8.41954360e+01] [-2.12339655e-01 9.77131985e-01 -1.11782891e-02 -1.25978449e+01] [-4.96631062e-02 6.33533997e-04 9.98765826e-01 -5.29013357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.23, Y:-12.61, Z:-5.29 [[ 9.76358820e-01 2.10705375e-01 4.82358835e-02 8.42265259e+01] [-2.10411323e-01 9.77549333e-01 -1.11524422e-02 -1.26075375e+01] [-4.95028352e-02 7.39409197e-04 9.98773709e-01 -5.29179258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:84.26, Y:-12.62, Z:-5.29 [[ 9.76824868e-01 2.08594969e-01 4.79720278e-02 8.42577518e+01] [-2.08301130e-01 9.78001746e-01 -1.11006380e-02 -1.26204722e+01] [-4.92322642e-02 8.50751671e-04 9.98786995e-01 -5.29430202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:-12.63, Z:-5.29 [[ 9.76889044e-01 2.08203238e-01 4.83653509e-02 8.42894628e+01] [-2.07903575e-01 9.78085182e-01 -1.12017553e-02 -1.26289187e+01] [-4.96376748e-02 8.87542630e-04 9.98766896e-01 -5.29475653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:-12.64, Z:-5.30 [[ 9.76700062e-01 2.09026248e-01 4.86314466e-02 8.43199120e+01] [-2.08723774e-01 9.77909652e-01 -1.12738261e-02 -1.26367868e+01] [-4.99136866e-02 8.60607581e-04 9.98753164e-01 -5.29705791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.65, Z:-5.30 [[ 9.76475644e-01 2.10277678e-01 4.77348474e-02 8.43517848e+01] [-2.09987321e-01 9.77641383e-01 -1.10748367e-02 -1.26458017e+01] [-4.89963532e-02 7.90595591e-04 9.98798645e-01 -5.30005152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.38, Y:-12.66, Z:-5.30 [[ 9.76266060e-01 2.11337266e-01 4.73406894e-02 8.43834459e+01] [-2.11052459e-01 9.77412917e-01 -1.09931042e-02 -1.26555117e+01] [-4.85946539e-02 7.40825563e-04 9.98818307e-01 -5.30195234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:-12.67, Z:-5.30 [[ 9.75763051e-01 2.13569046e-01 4.76941361e-02 8.44148280e+01] [-2.13282145e-01 9.76927760e-01 -1.10850817e-02 -1.26665295e+01] [-4.89611558e-02 6.44105508e-04 9.98800476e-01 -5.30326494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:-12.68, Z:-5.31 [[ 9.75449296e-01 2.14876372e-01 4.82370762e-02 8.44461911e+01] [-2.14583991e-01 9.76641076e-01 -1.12214159e-02 -1.26760851e+01] [-4.95215272e-02 5.95017969e-04 9.98772879e-01 -5.30526708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:-12.69, Z:-5.31 [[ 9.75214274e-01 2.15900109e-01 4.84175917e-02 8.44763086e+01] [-2.15606271e-01 9.76415298e-01 -1.12739289e-02 -1.26863970e+01] [-4.97097197e-02 5.55360008e-04 9.98763553e-01 -5.30751641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:-12.70, Z:-5.31 [[ 9.75092063e-01 2.16510785e-01 4.81513096e-02 8.45057137e+01] [-2.16220395e-01 9.76280081e-01 -1.12224654e-02 -1.26991032e+01] [-4.94389492e-02 5.31641813e-04 9.98777006e-01 -5.30994573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.54, Y:-12.71, Z:-5.31 [[ 9.75057641e-01 2.16799808e-01 4.75440776e-02 8.45376991e+01] [-2.16516812e-01 9.76215949e-01 -1.10856626e-02 -1.27089015e+01] [-4.88166564e-02 5.15067930e-04 9.98807624e-01 -5.31270276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:84.57, Y:-12.72, Z:-5.32 [[ 9.74947617e-01 2.17216767e-01 4.78959353e-02 8.45696148e+01] [-2.16929569e-01 9.76123260e-01 -1.11778076e-02 -1.27190463e+01] [-4.91803437e-02 5.07732217e-04 9.98789786e-01 -5.31525321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:84.60, Y:-12.73, Z:-5.32 [[ 9.74681866e-01 2.18289318e-01 4.84255480e-02 8.45998915e+01] [-2.17996542e-01 9.75883986e-01 -1.13116541e-02 -1.27336272e+01] [-4.97269301e-02 4.68662106e-04 9.98762741e-01 -5.31658392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-12.74, Z:-5.32 [[ 9.74565560e-01 2.18726958e-01 4.87902355e-02 8.46301413e+01] [-2.18429775e-01 9.75785994e-01 -1.14073296e-02 -1.27448074e+01] [-5.01039189e-02 4.59950389e-04 9.98743904e-01 -5.31824505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.66, Y:-12.75, Z:-5.32 [[ 9.74285779e-01 2.20183042e-01 4.78189201e-02 8.46601521e+01] [-2.19898886e-01 9.75458497e-01 -1.11893373e-02 -1.27547807e+01] [-4.91090743e-02 3.86284961e-04 9.98793347e-01 -5.32128545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-12.77, Z:-5.32 [[ 9.73577033e-01 2.23078100e-01 4.88254298e-02 8.46901221e+01] [-2.23351333e-01 9.74737996e-01 1.43934258e-04 -1.27732923e+01] [-4.75598930e-02 -1.10453559e-02 9.98807317e-01 -5.31629047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-12.77, Z:-5.32 [[ 9.72939657e-01 2.26560954e-01 4.53713227e-02 8.47215899e+01] [-2.26164268e-01 9.73991968e-01 -1.37612120e-02 -1.27742677e+01] [-4.73090572e-02 3.12745696e-03 9.98875404e-01 -5.32005203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:-12.78, Z:-5.33 [[ 9.72273365e-01 2.29507980e-01 4.48396055e-02 8.47525089e+01] [-2.28845641e-01 9.73268310e-01 -1.94542871e-02 -1.27794453e+01] [-4.81058812e-02 8.65353692e-03 9.98804756e-01 -5.32786470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-12.79, Z:-5.33 [[ 9.71669086e-01 2.31701085e-01 4.66239675e-02 8.47827225e+01] [-2.31442875e-01 9.72787017e-01 -1.09368728e-02 -1.27932246e+01] [-4.78892755e-02 -1.63763847e-04 9.98852637e-01 -5.33019879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.81, Y:-12.80, Z:-5.33 [[ 9.70626900e-01 2.36053002e-01 4.65016263e-02 8.48143794e+01] [-2.35800671e-01 9.71740112e-01 -1.09178117e-02 -1.28038729e+01] [-4.77646778e-02 -3.67992984e-04 9.98858549e-01 -5.33318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:-12.81, Z:-5.33 [[ 9.70261216e-01 2.37256239e-01 4.79859282e-02 8.48451388e+01] [-2.36988425e-01 9.71447010e-01 -1.12780150e-02 -1.28128629e+01] [-4.92915659e-02 -4.29488991e-04 9.98784340e-01 -5.33496268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-12.83, Z:-5.33 [[ 9.70013275e-01 2.38089007e-01 4.88658420e-02 8.48761107e+01] [-2.38147697e-01 9.71217566e-01 -4.70263280e-03 -1.28260828e+01] [-4.85790093e-02 -7.07567149e-03 9.98794280e-01 -5.33282531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.91, Y:-12.83, Z:-5.34 [[ 9.69458992e-01 2.40670115e-01 4.71927736e-02 8.49079275e+01] [-2.40074583e-01 9.70587736e-01 -1.79900066e-02 -1.28270439e+01] [-5.01343843e-02 6.11078822e-03 9.98723787e-01 -5.33960171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:-12.84, Z:-5.34 [[ 9.69285119e-01 2.41019528e-01 4.89483914e-02 8.49384077e+01] [-2.40744708e-01 9.70520071e-01 -1.15228869e-02 -1.28395487e+01] [-5.02826371e-02 -6.15103351e-04 9.98734839e-01 -5.34059662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:-12.85, Z:-5.34 [[ 9.69187128e-01 2.41561492e-01 4.82115723e-02 8.49698696e+01] [-2.41295075e-01 9.70385313e-01 -1.13591741e-02 -1.28481572e+01] [-4.95277407e-02 -6.24049584e-04 9.98772553e-01 -5.34324049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.00, Y:-12.86, Z:-5.35 [[ 9.69235244e-01 2.41408200e-01 4.80116945e-02 8.50021338e+01] [-2.41143311e-01 9.70423473e-01 -1.13219932e-02 -1.28565338e+01] [-4.93248973e-02 -6.04024110e-04 9.98782604e-01 -5.34679169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:-12.87, Z:-5.35 [[ 9.69301819e-01 2.40857959e-01 4.94108049e-02 8.50349917e+01] [-2.40844123e-01 9.70543215e-01 -6.32274212e-03 -1.28675245e+01] [-4.94782041e-02 -5.77165651e-03 9.98758527e-01 -5.34548080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.07, Y:-12.87, Z:-5.35 [[ 9.69218146e-01 2.41470589e-01 4.80431033e-02 8.50651246e+01] [-2.40930851e-01 9.70396662e-01 -1.68119926e-02 -1.28682691e+01] [-5.06804689e-02 4.71942254e-03 9.98703768e-01 -5.35096803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.10, Y:-12.88, Z:-5.35 [[ 9.69281447e-01 2.41001075e-01 4.91116860e-02 8.50958566e+01] [-2.40722337e-01 9.70524677e-01 -1.16020340e-02 -1.28796447e+01] [-5.04602059e-02 -5.76643485e-04 9.98725906e-01 -5.35310096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:-12.89, Z:-5.35 [[ 9.69692265e-01 2.39387545e-01 4.88928815e-02 8.51267543e+01] [-2.39108673e-01 9.70923979e-01 -1.15615371e-02 -1.28895293e+01] [-5.02389590e-02 -4.79578943e-04 9.98737111e-01 -5.35449916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:-12.90, Z:-5.36 [[ 9.69887679e-01 2.38603059e-01 4.88515198e-02 8.51576897e+01] [-2.38323397e-01 9.71117085e-01 -1.15570777e-02 -1.28972499e+01] [-5.01980996e-02 -4.33392878e-04 9.98739187e-01 -5.35632231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-12.90, Z:-5.36 [[ 9.70006136e-01 2.38121803e-01 4.88477565e-02 8.51900099e+01] [-2.37841119e-01 9.71235217e-01 -1.15652560e-02 -1.29047476e+01] [-5.01966010e-02 -3.99635792e-04 9.98739276e-01 -5.35817443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:-12.91, Z:-5.36 [[ 9.70169104e-01 2.37500412e-01 4.86360346e-02 8.52216531e+01] [-2.37220882e-01 9.71387373e-01 -1.15250024e-02 -1.29115662e+01] [-4.99816227e-02 -3.56281780e-04 9.98750074e-01 -5.36065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:-12.92, Z:-5.36 [[ 9.70068600e-01 2.37905253e-01 4.86621209e-02 8.52534433e+01] [-2.37625485e-01 9.71288296e-01 -1.15400943e-02 -1.29190187e+01] [-5.00103975e-02 -3.68676995e-04 9.98748629e-01 -5.36276370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-12.93, Z:-5.36 [[ 9.69702364e-01 2.39372548e-01 4.87658471e-02 8.52847835e+01] [-2.39092890e-01 9.70927698e-01 -1.15756452e-02 -1.29261451e+01] [-5.01190034e-02 -4.34636806e-04 9.98743158e-01 -5.36485158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:-12.94, Z:-5.36 [[ 9.69547955e-01 2.39817342e-01 4.96427827e-02 8.53180181e+01] [-2.39861704e-01 9.70793407e-01 -5.15019328e-03 -1.29377507e+01] [-4.94279918e-02 -6.91404307e-03 9.98753758e-01 -5.36397604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-12.94, Z:-5.37 [[ 9.69025601e-01 2.42427439e-01 4.70990650e-02 8.53486705e+01] [-2.41831977e-01 9.70150414e-01 -1.80407683e-02 -1.29363076e+01] [-5.00667547e-02 6.09190633e-03 9.98727294e-01 -5.36945880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.38, Y:-12.95, Z:-5.37 [[ 9.68293145e-01 2.44656239e-01 5.05144487e-02 8.53785331e+01] [-2.44715278e-01 9.69581527e-01 -5.10832447e-03 -1.29468812e+01] [-5.02276598e-02 -7.41530179e-03 9.98710266e-01 -5.37198496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.41, Y:-12.95, Z:-5.37 [[ 9.68050209e-01 2.46617709e-01 4.53706662e-02 8.54122821e+01] [-2.46056128e-01 9.69094691e-01 -1.76595874e-02 -1.29453389e+01] [-4.83236387e-02 5.93163684e-03 9.98814118e-01 -5.37432760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-12.96, Z:-5.38 [[ 9.67817833e-01 2.47144505e-01 4.74155643e-02 8.54426114e+01] [-2.46888023e-01 9.68978316e-01 -1.12839622e-02 -1.29552815e+01] [-4.87334229e-02 -7.85515053e-04 9.98811512e-01 -5.37525032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:-12.96, Z:-5.38 [[ 9.67738635e-01 2.47402004e-01 4.76883914e-02 8.54751177e+01] [-2.47142441e-01 9.68912595e-01 -1.13576725e-02 -1.29624821e+01] [-4.90157940e-02 -7.94566970e-04 9.98797688e-01 -5.37728385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:-12.97, Z:-5.38 [[ 9.68139365e-01 2.45831491e-01 4.76764979e-02 8.55059307e+01] [-2.45569604e-01 9.69312325e-01 -1.13660532e-02 -1.29696712e+01] [-4.90075508e-02 -7.03975162e-04 9.98798160e-01 -5.37977042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05264000000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:85.54, Y:-12.98, Z:-5.38 [[ 9.68545367e-01 2.44391617e-01 4.68253046e-02 8.55374701e+01] [-2.44137100e-01 9.69676420e-01 -1.11677105e-02 -1.29772757e+01] [-4.81346885e-02 -6.15359799e-04 9.98840665e-01 -5.38295132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:-12.99, Z:-5.38 [[ 9.68828864e-01 2.42416286e-01 5.10389655e-02 8.55663718e+01] [-2.42541312e-01 9.70133544e-01 -3.82348451e-03 -1.29894824e+01] [-5.04414874e-02 -8.67475549e-03 9.98689344e-01 -5.38377467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:-12.99, Z:-5.38 [[ 9.69709139e-01 2.39567863e-01 4.76594724e-02 8.56019756e+01] [-2.39343721e-01 9.70878773e-01 -1.04398845e-02 -1.29928830e+01] [-4.87726309e-02 -1.28334403e-03 9.98809083e-01 -5.38276884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:-12.99, Z:-5.39 [[ 9.69830848e-01 2.39448023e-01 4.57468199e-02 8.56329204e+01] [-2.38749743e-01 9.70870111e-01 -2.02432232e-02 -1.29938223e+01] [-4.92614199e-02 8.71046082e-03 9.98747936e-01 -5.38789851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:-13.01, Z:-5.39 [[ 9.70087674e-01 2.38007029e-01 4.77761405e-02 8.56624491e+01] [-2.37733083e-01 9.71263391e-01 -1.14195356e-02 -1.30066160e+01] [-4.91211460e-02 -2.80018460e-04 9.98792789e-01 -5.38985846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.69, Y:-13.02, Z:-5.39 [[ 9.70353792e-01 2.36781020e-01 4.84589189e-02 8.56938726e+01] [-2.36497195e-01 9.71563021e-01 -1.15919618e-02 -1.30155102e+01] [-4.98256501e-02 -2.12094322e-04 9.98757908e-01 -5.39242644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:-13.02, Z:-5.39 [[ 9.70256731e-01 2.37020916e-01 4.92235906e-02 8.57262742e+01] [-2.36727847e-01 9.71504523e-01 -1.17850913e-02 -1.30241966e+01] [-5.06142541e-02 -2.18030472e-04 9.98718253e-01 -5.39268478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.76, Y:-13.03, Z:-5.40 [[ 9.70188513e-01 2.37367205e-01 4.88984676e-02 8.57571433e+01] [-2.37077925e-01 9.71419971e-01 -1.17174168e-02 -1.30312089e+01] [-5.02822784e-02 -2.24644073e-04 9.98735021e-01 -5.39559644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-13.04, Z:-5.40 [[ 9.70022910e-01 2.38013780e-01 4.90407437e-02 8.57896424e+01] [-2.37723170e-01 9.71261745e-01 -1.17608073e-02 -1.30392608e+01] [-5.04306325e-02 -2.49868490e-04 9.98727535e-01 -5.39685890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.82, Y:-13.05, Z:-5.40 [[ 9.69666527e-01 2.39711370e-01 4.78046587e-02 8.58220283e+01] [-2.39436839e-01 9.70844146e-01 -1.14736193e-02 -1.30466147e+01] [-4.91612301e-02 -3.20611769e-04 9.98790804e-01 -5.40109944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.85, Y:-13.05, Z:-5.40 [[ 9.69364990e-01 2.40949874e-01 4.76935500e-02 8.58527271e+01] [-2.40677612e-01 9.70537490e-01 -1.14572045e-02 -1.30539560e+01] [-4.90489903e-02 -3.72556754e-04 9.98796304e-01 -5.40409254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264000000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:85.89, Y:-13.06, Z:-5.41 [[ 9.69024110e-01 2.42293527e-01 4.78133940e-02 8.58852402e+01] [-2.42021075e-01 9.70202896e-01 -1.14952010e-02 -1.30608120e+01] [-4.91739061e-02 -4.32722069e-04 9.98790138e-01 -5.40629097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:-13.07, Z:-5.41 [[ 9.68473279e-01 2.44290644e-01 4.88015166e-02 8.59165803e+01] [-2.44008802e-01 9.69701910e-01 -1.17434825e-02 -1.30665856e+01] [-5.01917468e-02 -5.34750617e-04 9.98739457e-01 -5.40729498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.95, Y:-13.08, Z:-5.41 [[ 9.68492294e-01 2.43894705e-01 5.03790549e-02 8.59492082e+01] [-2.44097996e-01 9.69748138e-01 -2.17169272e-03 -1.30794996e+01] [-4.93846590e-02 -1.01941587e-02 9.98727808e-01 -5.40828084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:-13.08, Z:-5.41 [[ 9.68154777e-01 2.46285028e-01 4.49445432e-02 8.59796303e+01] [-2.45558731e-01 9.69151856e-01 -2.11089878e-02 -1.30753460e+01] [-4.87569151e-02 9.40024240e-03 9.98766439e-01 -5.41283149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:-13.09, Z:-5.41 [[ 9.67729950e-01 2.47542993e-01 4.71297200e-02 8.60110999e+01] [-2.47282944e-01 9.68876686e-01 -1.13627577e-02 -1.30863946e+01] [-4.84756580e-02 -6.58294946e-04 9.98824147e-01 -5.41487213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-13.09, Z:-5.42 [[ 9.67714690e-01 2.47603173e-01 4.71269371e-02 8.60427665e+01] [-2.47342634e-01 9.68861315e-01 -1.13742870e-02 -1.30941274e+01] [-4.84757758e-02 -6.49436178e-04 9.98824147e-01 -5.41702452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.10, Z:-5.42 [[ 9.67389844e-01 2.48856903e-01 4.71925006e-02 8.60744776e+01] [-2.48597073e-01 9.68540002e-01 -1.13912393e-02 -1.31004437e+01] [-4.85426132e-02 -7.12148358e-04 9.98820859e-01 -5.41903166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:-13.11, Z:-5.42 [[ 9.67041406e-01 2.50188154e-01 4.72948961e-02 8.61050393e+01] [-2.49928355e-01 9.68196928e-01 -1.14247808e-02 -1.31066169e+01] [-4.86491179e-02 -7.72099484e-04 9.98815632e-01 -5.42084963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:-13.11, Z:-5.42 [[ 9.66191175e-01 2.53295301e-01 4.81259142e-02 8.61354709e+01] [-2.53029597e-01 9.67388556e-01 -1.16363972e-02 -1.31115416e+01] [-4.95039033e-02 -9.34296407e-04 9.98773493e-01 -5.42237341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-13.12, Z:-5.42 [[ 9.65889451e-01 2.54448163e-01 4.81009515e-02 8.61641966e+01] [-2.54184152e-01 9.67085905e-01 -1.16305633e-02 -1.31170544e+01] [-4.94771277e-02 -9.92661218e-04 9.98774764e-01 -5.42355119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.12, Z:-5.43 [[ 9.65785480e-01 2.54830006e-01 4.81671584e-02 8.61938295e+01] [-2.54565782e-01 9.66985335e-01 -1.16457586e-02 -1.31226615e+01] [-4.95446246e-02 -1.01440584e-03 9.98771396e-01 -5.42642081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.13, Z:-5.43 [[ 9.65869854e-01 2.54591528e-01 4.77344649e-02 8.62225022e+01] [-2.54331731e-01 9.67048172e-01 -1.15413472e-02 -1.31276217e+01] [-4.90998563e-02 -9.92949810e-04 9.98793381e-01 -5.42907318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.14, Z:-5.43 [[ 9.66318250e-01 2.52390844e-01 5.02782466e-02 8.62534230e+01] [-2.52467903e-01 9.67592777e-01 -4.91694361e-03 -1.31360395e+01] [-4.98898598e-02 -7.94231115e-03 9.98723146e-01 -5.42985376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.13, Z:-5.43 [[ 9.66522727e-01 2.52334115e-01 4.64899181e-02 8.62841826e+01] [-2.51721770e-01 9.67619302e-01 -1.86825178e-02 -1.31344217e+01] [-4.96987787e-02 6.35455356e-03 9.98744037e-01 -5.43369225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.15, Z:-5.44 [[ 9.67102486e-01 2.49557054e-01 4.93361691e-02 8.63118184e+01] [-2.49272874e-01 9.68359798e-01 -1.19304462e-02 -1.31453543e+01] [-5.07524898e-02 -7.60204473e-04 9.98710973e-01 -5.43510861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.16, Z:-5.44 [[ 9.68234038e-01 2.43822566e-01 5.54382916e-02 8.63394777e+01] [-2.43980044e-01 9.69771947e-01 -4.01350712e-03 -1.31569369e+01] [-5.47410836e-02 -9.63982258e-03 9.98454049e-01 -5.43715628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.15, Z:-5.44 [[ 9.68778445e-01 2.42988241e-01 4.92446809e-02 8.63723096e+01] [-2.42226965e-01 9.69992983e-01 -2.09692807e-02 -1.31544016e+01] [-5.28622835e-02 8.38619756e-03 9.98566598e-01 -5.43906823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.17, Z:-5.44 [[ 9.69418977e-01 2.40055465e-01 5.09923595e-02 8.64017564e+01] [-2.39738756e-01 9.70759136e-01 -1.23300071e-02 -1.31668444e+01] [-5.24611845e-02 -2.71901917e-04 9.98622927e-01 -5.44131888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.17, Z:-5.44 [[ 9.70699550e-01 2.35080187e-01 4.97964769e-02 8.64339013e+01] [-2.34771146e-01 9.71975980e-01 -1.20500271e-02 -1.31743181e+01] [-5.12337021e-02 6.17994960e-06 9.98686691e-01 -5.44485317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.18, Z:-5.45 [[ 9.71035215e-01 2.33616019e-01 5.01414701e-02 8.64644525e+01] [-2.33300192e-01 9.72328929e-01 -1.21438746e-02 -1.31829492e+01] [-5.15910055e-02 9.41152556e-05 9.98668293e-01 -5.44581999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:-13.19, Z:-5.45 [[ 9.71310714e-01 2.32504778e-01 4.99702397e-02 8.64956971e+01] [-2.32189145e-01 9.72595241e-01 -1.21119315e-02 -1.31914035e+01] [-5.14168992e-02 1.61901643e-04 9.98677263e-01 -5.44808669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:-13.20, Z:-5.45 [[ 9.71408180e-01 2.32295800e-01 4.90388527e-02 8.65280909e+01] [-2.31991162e-01 9.72645172e-01 -1.18941677e-02 -1.31996381e+01] [-5.04603685e-02 1.77511438e-04 9.98726048e-01 -5.44999942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.56, Y:-13.21, Z:-5.45 [[ 9.71161264e-01 2.33510649e-01 4.81516050e-02 8.65599942e+01] [-2.33217954e-01 9.72354237e-01 -1.16886246e-02 -1.32070118e+01] [-4.95498354e-02 1.21720622e-04 9.98771645e-01 -5.45221536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:-13.21, Z:-5.45 [[ 9.70687751e-01 2.35358965e-01 4.86975031e-02 8.65902994e+01] [-2.35061366e-01 9.71908512e-01 -1.18320839e-02 -1.32144197e+01] [-5.01143049e-02 3.83573339e-05 9.98743488e-01 -5.45363087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:-13.22, Z:-5.45 [[ 9.69540195e-01 2.39779845e-01 4.99743455e-02 8.66188148e+01] [-2.39471677e-01 9.70827272e-01 -1.21541701e-02 -1.32197442e+01] [-5.14307826e-02 -1.83483923e-04 9.98676545e-01 -5.45444405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:-13.23, Z:-5.46 [[ 9.68952446e-01 2.42184186e-01 4.97792860e-02 8.66479923e+01] [-2.41881728e-01 9.70230242e-01 -1.21040155e-02 -1.32255561e+01] [-5.12287699e-02 -3.12484242e-04 9.98686896e-01 -5.45614459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:-13.23, Z:-5.46 [[ 9.68431430e-01 2.44402080e-01 4.90732926e-02 8.66781715e+01] [-2.44111066e-01 9.69673885e-01 -1.19308391e-02 -1.32322456e+01] [-5.05010121e-02 -4.25134198e-04 9.98723919e-01 -5.45807604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:-13.24, Z:-5.46 [[ 9.67593383e-01 2.47618527e-01 4.94783889e-02 8.67058019e+01] [-2.47326863e-01 9.68857424e-01 -1.20297422e-02 -1.32380617e+01] [-5.09162914e-02 -5.97435768e-04 9.98702746e-01 -5.46075266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:-13.24, Z:-5.46 [[ 9.67372132e-01 2.48523262e-01 4.92681151e-02 8.67347264e+01] [-2.48235317e-01 9.68625714e-01 -1.19772150e-02 -1.32437860e+01] [-5.06989797e-02 -6.43662134e-04 9.98713772e-01 -5.46229956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.76, Y:-13.25, Z:-5.46 [[ 9.67381020e-01 2.48655622e-01 4.84184277e-02 8.67638719e+01] [-2.48377740e-01 9.68591747e-01 -1.17697271e-02 -1.32496606e+01] [-4.98242982e-02 -6.40249088e-04 9.98757793e-01 -5.46499400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:-13.26, Z:-5.47 [[ 9.67477977e-01 2.48312423e-01 4.82421506e-02 8.67931483e+01] [-2.48036267e-01 9.68679799e-01 -1.17242255e-02 -1.32563229e+01] [-4.96424675e-02 -6.22872999e-04 9.98766858e-01 -5.46669713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:-13.26, Z:-5.47 [[ 9.67721104e-01 2.47122887e-01 4.94585108e-02 8.68215875e+01] [-2.46831059e-01 9.68983977e-01 -1.20200292e-02 -1.32621002e+01] [-5.08949288e-02 -5.75860661e-04 9.98703847e-01 -5.46826303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:-13.27, Z:-5.47 [[ 9.67958446e-01 2.46235100e-01 4.92414697e-02 8.68503929e+01] [-2.45944704e-01 9.69209986e-01 -1.19668316e-02 -1.32683545e+01] [-5.06719782e-02 -5.27282944e-04 9.98715211e-01 -5.47050089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:-13.27, Z:-5.47 [[ 9.68224620e-01 2.45244224e-01 4.89525831e-02 8.68781721e+01] [-2.44956013e-01 9.69461214e-01 -1.18955999e-02 -1.32749844e+01] [-5.03749578e-02 -4.73616871e-04 9.98730264e-01 -5.47213017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:-13.28, Z:-5.47 [[ 9.68620350e-01 2.43435285e-01 5.01385982e-02 8.69067585e+01] [-2.43130617e-01 9.69917063e-01 -1.21816972e-02 -1.32815746e+01] [-5.15957369e-02 -3.90788529e-04 9.98667976e-01 -5.47343655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:-13.29, Z:-5.48 [[ 9.68809764e-01 2.42553541e-01 5.07486138e-02 8.69363925e+01] [-2.42240287e-01 9.70137958e-01 -1.23282604e-02 -1.32879152e+01] [-5.22234198e-02 -3.49619710e-04 9.98635365e-01 -5.47510585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:-13.30, Z:-5.48 [[ 9.68957360e-01 2.40877061e-01 5.56765357e-02 8.69635276e+01] [-2.41151801e-01 9.70485681e-01 -1.83067464e-03 -1.32998242e+01] [-5.44742482e-02 -1.16526512e-02 9.98447180e-01 -5.47663972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-13.29, Z:-5.48 [[ 9.69573426e-01 2.40142584e-01 4.75280109e-02 8.69966541e+01] [-2.39275717e-01 9.70673444e-01 -2.32421244e-02 -1.32932014e+01] [-5.17156018e-02 1.11626473e-02 9.98599465e-01 -5.47912309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-13.31, Z:-5.48 [[ 9.70026028e-01 2.37952685e-01 4.92749999e-02 8.70253914e+01] [-2.37651162e-01 9.71276743e-01 -1.19755690e-02 -1.33069699e+01] [-5.07092802e-02 -9.36473416e-05 9.98713452e-01 -5.48110322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.06, Y:-13.32, Z:-5.48 [[ 9.70507287e-01 2.36206108e-01 4.81900384e-02 8.70550611e+01] [-2.35915627e-01 9.71702976e-01 -1.17107928e-02 -1.33150082e+01] [-4.95925645e-02 -3.37339474e-06 9.98769532e-01 -5.48411625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-13.32, Z:-5.49 [[ 9.70869071e-01 2.34637211e-01 4.85656815e-02 8.70847989e+01] [-2.34339688e-01 9.72083007e-01 -1.18126662e-02 -1.33237813e+01] [-4.99815648e-02 8.76856300e-05 9.98750137e-01 -5.48577211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:-13.33, Z:-5.49 [[ 9.71586040e-01 2.31266710e-01 5.03614552e-02 8.71144768e+01] [-2.30942220e-01 9.72890351e-01 -1.22497346e-02 -1.33317529e+01] [-5.18291297e-02 2.71084835e-04 9.98655931e-01 -5.48671560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-13.34, Z:-5.49 [[ 9.71903850e-01 2.30002371e-01 5.00181496e-02 8.71451301e+01] [-2.29680407e-01 9.73190009e-01 -1.21703351e-02 -1.33401141e+01] [-5.14763694e-02 3.40206559e-04 9.98674155e-01 -5.48882877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:-13.35, Z:-5.49 [[ 9.72336685e-01 2.28291226e-01 4.94417550e-02 8.71760315e+01] [-2.27974001e-01 9.73592794e-01 -1.20385636e-02 -1.33499652e+01] [-5.08844348e-02 4.34102298e-04 9.98704454e-01 -5.49081067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:-13.36, Z:-5.49 [[ 9.72306649e-01 2.28372056e-01 4.96586808e-02 8.72057984e+01] [-2.28051639e-01 9.73573834e-01 -1.21012564e-02 -1.33578792e+01] [-5.11099810e-02 4.41388457e-04 9.98692933e-01 -5.49314641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:-13.37, Z:-5.50 [[ 9.72287762e-01 2.28524096e-01 4.93279260e-02 8.72378406e+01] [-2.28207763e-01 9.73538158e-01 -1.20279235e-02 -1.33661459e+01] [-5.07712886e-02 4.37587177e-04 9.98710211e-01 -5.49547643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-13.37, Z:-5.50 [[ 9.72127472e-01 2.29265194e-01 4.90474084e-02 8.72681754e+01] [-2.28952874e-01 9.73363912e-01 -1.19697949e-02 -1.33748228e+01] [-5.04852347e-02 4.06621320e-04 9.98724725e-01 -5.49816214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.38, Z:-5.50 [[ 9.71593799e-01 2.31412875e-01 4.95335344e-02 8.72985865e+01] [-2.31096604e-01 9.72855584e-01 -1.20984726e-02 -1.33835317e+01] [-5.09887178e-02 3.07769402e-04 9.98699182e-01 -5.49991862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:-13.39, Z:-5.50 [[ 9.71176357e-01 2.33073448e-01 4.99324654e-02 8.73285813e+01] [-2.32753720e-01 9.72459107e-01 -1.22062287e-02 -1.33908207e+01] [-5.14022285e-02 2.32433687e-04 9.98678005e-01 -5.50224170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-13.40, Z:-5.50 [[ 9.70727881e-01 2.34939311e-01 4.99089293e-02 8.73599660e+01] [-2.34622399e-01 9.72010032e-01 -1.21994847e-02 -1.33985899e+01] [-5.13781186e-02 1.32627243e-04 9.98679264e-01 -5.50385132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-13.41, Z:-5.51 [[ 9.69727566e-01 2.39053487e-01 4.98184468e-02 8.73896740e+01] [-2.38742594e-01 9.71006398e-01 -1.21880673e-02 -1.34057805e+01] [-5.12876305e-02 -7.46803649e-05 9.98683921e-01 -5.50610939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:-13.41, Z:-5.51 [[ 9.69188919e-01 2.41269950e-01 4.96150152e-02 8.74205918e+01] [-2.40964317e-01 9.70458024e-01 -1.21417528e-02 -1.34127665e+01] [-5.10787297e-02 -1.87795946e-04 9.98694612e-01 -5.50824355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:-13.42, Z:-5.51 [[ 9.68657075e-01 2.43433862e-01 4.94310264e-02 8.74488011e+01] [-2.43561519e-01 9.69879076e-01 -3.51642564e-03 -1.34233323e+01] [-4.87981353e-02 -8.63328529e-03 9.98771349e-01 -5.50600216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-13.42, Z:-5.51 [[ 9.67997372e-01 2.46513033e-01 4.70362934e-02 8.74816377e+01] [-2.45829861e-01 9.69108997e-01 -1.98854698e-02 -1.34207609e+01] [-5.04853226e-02 7.68615705e-03 9.98695226e-01 -5.51329121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:-13.43, Z:-5.51 [[ 9.67211703e-01 2.49204062e-01 4.89781189e-02 8.75085416e+01] [-2.48915785e-01 9.68450820e-01 -1.19975586e-02 -1.34293735e+01] [-5.04227397e-02 -5.87247802e-04 9.98727792e-01 -5.51484615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:-13.43, Z:-5.52 [[ 9.67031980e-01 2.49938169e-01 4.87858723e-02 8.75361675e+01] [-2.49653187e-01 9.68261597e-01 -1.19484497e-02 -1.34349051e+01] [-5.02238603e-02 -6.25015561e-04 9.98737790e-01 -5.51723850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:-13.44, Z:-5.52 [[ 9.67026194e-01 2.50012817e-01 4.85173309e-02 8.75656540e+01] [-2.49731127e-01 9.68242324e-01 -1.18813126e-02 -1.34407639e+01] [-4.99470137e-02 -6.26747212e-04 9.98751672e-01 -5.51971210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:-13.45, Z:-5.52 [[ 9.67219687e-01 2.49280978e-01 4.84259441e-02 8.75932407e+01] [-2.48999484e-01 9.68431023e-01 -1.18578866e-02 -1.34466296e+01] [-4.98531322e-02 -5.88853742e-04 9.98756386e-01 -5.52173863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.62, Y:-13.45, Z:-5.52 [[ 9.68067192e-01 2.46072492e-01 4.78982233e-02 8.76201517e+01] [-2.45793247e-01 9.69251336e-01 -1.17272235e-02 -1.34516972e+01] [-4.93111640e-02 -4.20319470e-04 9.98783376e-01 -5.52457715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:-13.46, Z:-5.53 [[ 9.68500075e-01 2.44116461e-01 4.91401857e-02 8.76480142e+01] [-2.43820190e-01 9.69745865e-01 -1.20279690e-02 -1.34582590e+01] [-5.05897171e-02 -3.32280558e-04 9.98719465e-01 -5.52588888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-13.46, Z:-5.53 [[ 9.69014658e-01 2.41954447e-01 4.96853896e-02 8.76768926e+01] [-2.41648865e-01 9.70287584e-01 -1.21585741e-02 -1.34648430e+01] [-5.11509377e-02 -2.24581455e-04 9.98690909e-01 -5.52758370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:-13.47, Z:-5.53 [[ 9.69520729e-01 2.39847196e-01 5.00287828e-02 8.77057685e+01] [-2.39534633e-01 9.70810645e-01 -1.22413229e-02 -1.34718437e+01] [-5.15045219e-02 -1.15409855e-04 9.98672755e-01 -5.52935920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.74, Y:-13.48, Z:-5.53 [[ 9.70748577e-01 2.35120916e-01 4.86349147e-02 8.77351401e+01] [-2.35187093e-01 9.71939982e-01 -4.43884966e-03 -1.34822664e+01] [-4.83138845e-02 -7.12929721e-03 9.98806759e-01 -5.52811927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:-13.48, Z:-5.53 [[ 9.71092029e-01 2.33799536e-01 4.81461094e-02 8.77686346e+01] [-2.33133865e-01 9.72257350e-01 -1.90852155e-02 -1.34822525e+01] [-5.12725233e-02 7.30901208e-03 9.98657953e-01 -5.53471613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:-13.50, Z:-5.54 [[ 9.71421627e-01 2.31141377e-01 5.39785706e-02 8.77962942e+01] [-2.31258228e-01 9.72883524e-01 -4.15707851e-03 -1.34987172e+01] [-5.34757348e-02 -8.44471261e-03 9.98533441e-01 -5.53719935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:-13.50, Z:-5.54 [[ 9.72144894e-01 2.29639723e-01 4.69031210e-02 8.78303298e+01] [-2.28906524e-01 9.73232110e-01 -2.05198106e-02 -1.34968696e+01] [-5.03597871e-02 9.21179869e-03 9.98688657e-01 -5.53804880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:-13.51, Z:-5.54 [[ 9.72337768e-01 2.28385879e-01 4.89811669e-02 8.78591595e+01] [-2.28070383e-01 9.73570559e-01 -1.20111615e-02 -1.35092712e+01] [-5.04298017e-02 5.07752474e-04 9.98727479e-01 -5.53950351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:-13.52, Z:-5.54 [[ 9.72413948e-01 2.27902356e-01 4.97154885e-02 8.78877904e+01] [-2.28028696e-01 9.73649182e-01 -3.19133539e-03 -1.35215407e+01] [-4.91327576e-02 -8.23325895e-03 9.98758322e-01 -5.53656886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-13.52, Z:-5.54 [[ 9.72274798e-01 2.28965870e-01 4.75010226e-02 8.79218658e+01] [-2.28227078e-01 9.73391940e-01 -2.05068601e-02 -1.35201781e+01] [-5.09324836e-02 9.09728371e-03 9.98660664e-01 -5.54315821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:-13.53, Z:-5.55 [[ 9.72286747e-01 2.28480012e-01 4.95516469e-02 8.79523495e+01] [-2.28156531e-01 9.73548464e-01 -1.21649519e-02 -1.35327976e+01] [-5.10203780e-02 5.22289626e-04 9.98697476e-01 -5.54509080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.98, Y:-13.54, Z:-5.55 [[ 9.72112828e-01 2.29384045e-01 4.87812376e-02 8.79831284e+01] [-2.29071624e-01 9.73335883e-01 -1.19770848e-02 -1.35414073e+01] [-5.02278811e-02 4.68680405e-04 9.98737673e-01 -5.54801069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:88.01, Y:-13.55, Z:-5.55 [[ 9.71972211e-01 2.30006475e-01 4.86522596e-02 8.80127860e+01] [-2.29696033e-01 9.73188997e-01 -1.19544158e-02 -1.35495292e+01] [-5.00974368e-02 4.44128906e-04 9.98744236e-01 -5.54986698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-13.56, Z:-5.55 [[ 9.71715299e-01 2.30881693e-01 4.96288440e-02 8.80430100e+01] [-2.30559253e-01 9.72981742e-01 -1.22049702e-02 -1.35579619e+01] [-5.11058633e-02 4.17367081e-04 9.98693154e-01 -5.55133970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-13.57, Z:-5.55 [[ 9.71456933e-01 2.31925917e-01 4.98176360e-02 8.80720300e+01] [-2.31602315e-01 9.72733384e-01 -1.22528471e-02 -1.35663032e+01] [-5.13010305e-02 3.65233488e-04 9.98683168e-01 -5.55355783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.10, Y:-13.58, Z:-5.56 [[ 9.70814464e-01 2.34122279e-01 5.20195570e-02 8.81015240e+01] [-2.33988810e-01 9.72200119e-01 -8.72723420e-03 -1.35777569e+01] [-5.26166595e-02 -3.69946904e-03 9.98607932e-01 -5.55593876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:88.13, Y:-13.58, Z:-5.56 [[ 9.70505526e-01 2.35998993e-01 4.92290406e-02 8.81338084e+01] [-2.35484812e-01 9.71745019e-01 -1.60786153e-02 -1.35808038e+01] [-5.16326120e-02 4.01169365e-03 9.98658089e-01 -5.55745134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:-13.60, Z:-5.56 [[ 9.69764519e-01 2.37031612e-01 5.80757482e-02 8.81601630e+01] [-2.37568425e-01 9.71367791e-01 2.42021574e-03 -1.35984504e+01] [-5.58392437e-02 -1.61440034e-02 9.98309246e-01 -5.56006255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.19, Y:-13.59, Z:-5.56 [[ 9.68846483e-01 2.43611343e-01 4.46094825e-02 8.81931590e+01] [-2.42516726e-01 9.69726229e-01 -2.85775972e-02 -1.35876733e+01] [-5.02208121e-02 1.68687589e-02 9.98595671e-01 -5.56142171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:88.22, Y:-13.60, Z:-5.56 [[ 9.68393644e-01 2.44779991e-01 4.79218869e-02 8.82192591e+01] [-2.44495664e-01 9.69578605e-01 -1.17982612e-02 -1.36048586e+01] [-4.93520146e-02 -2.91332383e-04 9.98781404e-01 -5.56348338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-13.61, Z:-5.56 [[ 9.67878075e-01 2.46781846e-01 4.80702910e-02 8.82483901e+01] [-2.46498300e-01 9.69070980e-01 -1.18332027e-02 -1.36121888e+01] [-4.95037436e-02 -3.96147497e-04 9.98773860e-01 -5.56463349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-13.62, Z:-5.57 [[ 9.67031414e-01 2.50132386e-01 4.77915731e-02 8.82757881e+01] [-2.49856175e-01 9.68211481e-01 -1.17652087e-02 -1.36189435e+01] [-4.92152095e-02 -5.63693283e-04 9.98788038e-01 -5.56668607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:88.30, Y:-13.63, Z:-5.57 [[ 9.66702477e-01 2.51488114e-01 4.73291613e-02 8.83042406e+01] [-2.51218947e-01 9.67860183e-01 -1.16493544e-02 -1.36252462e+01] [-4.87376849e-02 -6.28522299e-04 9.98811415e-01 -5.57001016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:-13.64, Z:-5.56 [[ 9.66305686e-01 2.52744799e-01 4.87174293e-02 8.83311240e+01] [-2.53039644e-01 9.67455903e-01 -1.19081993e-04 -1.36376263e+01] [-4.71620619e-02 -1.22123714e-02 9.98812594e-01 -5.56477803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.36, Y:-13.63, Z:-5.57 [[ 9.65731724e-01 2.55807718e-01 4.38708251e-02 8.83631723e+01] [-2.55031247e-01 9.66669572e-01 -2.25610600e-02 -1.36270881e+01] [-4.81798850e-02 1.05995001e-02 9.98782433e-01 -5.57410435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.39, Y:-13.64, Z:-5.58 [[ 9.65570000e-01 2.55811775e-01 4.72748390e-02 8.83894964e+01] [-2.55548344e-01 9.66726240e-01 -1.16370644e-02 -1.36394719e+01] [-4.86787254e-02 -8.44606519e-04 9.98814131e-01 -5.57546187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.42, Y:-13.65, Z:-5.58 [[ 9.65496178e-01 2.55983674e-01 4.78486062e-02 8.84179049e+01] [-2.55714138e-01 9.66680717e-01 -1.17758506e-02 -1.36463469e+01] [-4.92687505e-02 -8.66026330e-04 9.98785182e-01 -5.57741780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-13.65, Z:-5.58 [[ 9.65548694e-01 2.55793670e-01 4.78049887e-02 8.84464839e+01] [-2.55524515e-01 9.66731019e-01 -1.17626491e-02 -1.36515071e+01] [-4.92233766e-02 -8.57936052e-04 9.98787426e-01 -5.57753633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.47, Y:-13.66, Z:-5.58 [[ 9.65624709e-01 2.55522045e-01 4.77221661e-02 8.84749568e+01] [-2.55253613e-01 9.66802860e-01 -1.17397916e-02 -1.36566919e+01] [-4.91377022e-02 -8.45022493e-04 9.98791656e-01 -5.58073136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-13.66, Z:-5.58 [[ 9.65594917e-01 2.55485706e-01 4.85129803e-02 8.85021271e+01] [-2.55208372e-01 9.66812451e-01 -1.19319643e-02 -1.36618295e+01] [-4.99513997e-02 -8.59474674e-04 9.98751280e-01 -5.58148280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:-13.67, Z:-5.58 [[ 9.65590477e-01 2.55426713e-01 4.89103762e-02 8.85306742e+01] [-2.55144908e-01 9.66828032e-01 -1.20263389e-02 -1.36675267e+01] [-5.03597710e-02 -8.66715104e-04 9.98730766e-01 -5.58313591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:-13.68, Z:-5.58 [[ 9.65641615e-01 2.54790181e-01 5.11686973e-02 8.85575245e+01] [-2.55002794e-01 9.66937240e-01 -2.43907486e-03 -1.36764374e+01] [-5.00983712e-02 -1.06928886e-02 9.98687046e-01 -5.58210005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.59, Y:-13.67, Z:-5.59 [[ 9.65696784e-01 2.55540768e-01 4.61371577e-02 8.85885227e+01] [-2.54799887e-01 9.66757384e-01 -2.13817396e-02 -1.36705931e+01] [-5.00673440e-02 8.89253462e-03 9.98706255e-01 -5.58799497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-13.69, Z:-5.59 [[ 9.65921292e-01 2.53678091e-01 5.14148258e-02 8.86144409e+01] [-2.54026152e-01 9.67197320e-01 2.43099839e-04 -1.36889904e+01] [-4.96666126e-02 -1.32955257e-02 9.98677354e-01 -5.58577467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:-13.69, Z:-5.58 [[ 9.66841268e-01 2.51066766e-01 4.67273160e-02 8.86442128e+01] [-2.51380258e-01 9.67888022e-01 8.62276958e-04 -1.36933276e+01] [-4.50103203e-02 -1.25800097e-02 9.98907310e-01 -5.57897191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:-13.68, Z:-5.59 [[ 9.66838003e-01 2.52025988e-01 4.13180159e-02 8.86760934e+01] [-2.50667108e-01 9.67426376e-01 -3.53865490e-02 -1.36775442e+01] [-4.88904684e-02 2.38559928e-02 9.98519210e-01 -5.59222856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-13.70, Z:-5.59 [[ 9.67287513e-01 2.49166113e-01 4.76562156e-02 8.87013684e+01] [-2.48891507e-01 9.68460613e-01 -1.17071749e-02 -1.36960561e+01] [-4.90701991e-02 -5.37023249e-04 9.98795188e-01 -5.59434718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:-13.70, Z:-5.60 [[ 9.67645385e-01 2.47865188e-01 4.71726403e-02 8.87295669e+01] [-2.47594703e-01 9.68794420e-01 -1.15859419e-02 -1.37016594e+01] [-4.85723424e-02 -4.68612677e-04 9.98819557e-01 -5.59584195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-13.71, Z:-5.60 [[ 9.68381166e-01 2.45011085e-01 4.69838920e-02 8.87580957e+01] [-2.44739492e-01 9.69520223e-01 -1.15377149e-02 -1.37078714e+01] [-4.83787015e-02 -3.25908093e-04 9.98829012e-01 -5.59816779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:-13.71, Z:-5.60 [[ 9.68712401e-01 2.43654273e-01 4.72110177e-02 8.87847652e+01] [-2.43378654e-01 9.69862117e-01 -1.15890137e-02 -1.37140312e+01] [-4.86118903e-02 -2.63732598e-04 9.98817708e-01 -5.59961245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:-13.72, Z:-5.60 [[ 9.68967804e-01 2.42713399e-01 4.68145414e-02 8.88130933e+01] [-2.42441461e-01 9.70098015e-01 -1.14882313e-02 -1.37195181e+01] [-4.82030413e-02 -2.18059607e-04 9.98837534e-01 -5.60092198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:-13.72, Z:-5.60 [[ 9.69128891e-01 2.42156261e-01 4.63631060e-02 8.88401998e+01] [-2.41889011e-01 9.70237244e-01 -1.13753116e-02 -1.37238354e+01] [-4.77378150e-02 -1.90582755e-04 9.98859882e-01 -5.60265453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:-13.73, Z:-5.60 [[ 9.69177280e-01 2.42126914e-01 4.54967873e-02 8.88688685e+01] [-2.41869673e-01 9.70244568e-01 -1.11597147e-02 -1.37256208e+01] [-4.68450781e-02 -1.88551120e-04 9.98902149e-01 -5.60495745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:-13.73, Z:-5.61 [[ 9.69228531e-01 2.42041635e-01 4.48542301e-02 8.88968296e+01] [-2.41791625e-01 9.70265847e-01 -1.09998706e-02 -1.37308406e+01] [-4.61829542e-02 -1.83988748e-04 9.98932981e-01 -5.60698691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-13.74, Z:-5.61 [[ 9.69279023e-01 2.41832526e-01 4.48910278e-02 8.89244142e+01] [-2.41581976e-01 9.70317988e-01 -1.10068562e-02 -1.37366662e+01] [-4.62203876e-02 -1.76148381e-04 9.98931251e-01 -5.60898320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-13.75, Z:-5.61 [[ 9.69439598e-01 2.40107534e-01 5.03511517e-02 8.89508797e+01] [-2.40475802e-01 9.70654266e-01 1.29813898e-03 -1.37495177e+01] [-4.85618672e-02 -1.33667009e-02 9.98730733e-01 -5.60862077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:-13.74, Z:-5.61 [[ 9.69580119e-01 2.41035174e-01 4.26196949e-02 8.89820819e+01] [-2.40189028e-01 9.70428263e-01 -2.40461432e-02 -1.37397202e+01] [-4.71553228e-02 1.30778793e-02 9.98801955e-01 -5.61122578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.01, Y:-13.75, Z:-5.61 [[ 9.69857107e-01 2.39419700e-01 4.53365056e-02 8.90084281e+01] [-2.39161949e-01 9.70916166e-01 -1.11067510e-02 -1.37520274e+01] [-4.66771212e-02 -7.08056799e-05 9.98910027e-01 -5.61424110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.04, Y:-13.76, Z:-5.62 [[ 9.70202637e-01 2.38123239e-01 4.47679223e-02 8.90365957e+01] [-2.37870641e-01 9.71234947e-01 -1.09651763e-02 -1.37576216e+01] [-4.60912340e-02 -1.05314806e-05 9.98937234e-01 -5.61633228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-13.76, Z:-5.62 [[ 9.70752183e-01 2.35756874e-01 4.53750616e-02 8.90636522e+01] [-2.35494892e-01 9.71812063e-01 -1.11117004e-02 -1.37620646e+01] [-4.67156919e-02 1.01112151e-04 9.98908221e-01 -5.61743781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-13.77, Z:-5.62 [[ 9.70941344e-01 2.34913122e-01 4.57026472e-02 8.90912273e+01] [-2.34646539e-01 9.72016361e-01 -1.11891081e-02 -1.37676602e+01] [-4.70521891e-02 1.39999693e-04 9.98892423e-01 -5.61899873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-13.78, Z:-5.61 [[ 9.71250864e-01 2.32845953e-01 4.95431286e-02 8.91182796e+01] [-2.33362015e-01 9.72377982e-01 4.81966265e-03 -1.37837765e+01] [-4.70524085e-02 -1.62425859e-02 9.98760356e-01 -5.61423453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.15, Y:-13.77, Z:-5.62 [[ 9.71165031e-01 2.34626418e-01 4.22956966e-02 8.91498079e+01] [-2.33637984e-01 9.71947672e-01 -2.70372873e-02 -1.37727362e+01] [-4.74528657e-02 1.63757867e-02 9.98739235e-01 -5.62291761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-13.79, Z:-5.62 [[ 9.71512074e-01 2.32459759e-01 4.61167135e-02 8.91742562e+01] [-2.32186101e-01 9.72605983e-01 -1.12790141e-02 -1.37892671e+01] [-4.74753084e-02 2.50038422e-04 9.98872381e-01 -5.62354049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-13.80, Z:-5.63 [[ 9.71682251e-01 2.31694604e-01 4.63811743e-02 8.92009000e+01] [-2.31417081e-01 9.72788532e-01 -1.13404457e-02 -1.37960508e+01] [-4.77465946e-02 2.85913781e-04 9.98859440e-01 -5.62591885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.23, Y:-13.80, Z:-5.63 [[ 9.71856099e-01 2.31036748e-01 4.60189603e-02 8.92289182e+01] [-2.30762970e-01 9.72944975e-01 -1.12484641e-02 -1.38030258e+01] [-4.73727247e-02 3.12416477e-04 9.98877233e-01 -5.62751447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-13.81, Z:-5.63 [[ 9.72094875e-01 2.30018427e-01 4.60768649e-02 8.92574229e+01] [-2.29742925e-01 9.73186207e-01 -1.12603249e-02 -1.38090769e+01] [-4.74314516e-02 3.60270458e-04 9.98874430e-01 -5.62857712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-13.82, Z:-5.63 [[ 9.72434610e-01 2.28408389e-01 4.69098795e-02 8.92844457e+01] [-2.28121067e-01 9.73565309e-01 -1.14616240e-02 -1.38161691e+01] [-4.82877624e-02 4.44548158e-04 9.98833367e-01 -5.63034252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.31, Y:-13.84, Z:-5.62 [[ 9.72892952e-01 2.25905460e-01 4.94573234e-02 8.93096511e+01] [-2.26590310e-01 9.73951881e-01 8.63506248e-03 -1.38354952e+01] [-4.62183454e-02 -1.96075416e-02 9.98738909e-01 -5.62440357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:89.34, Y:-13.82, Z:-5.63 [[ 9.72865328e-01 2.27711544e-01 4.09939698e-02 8.93416211e+01] [-2.26570845e-01 9.73511919e-01 -3.06626238e-02 -1.38222158e+01] [-4.68903517e-02 2.05425652e-02 9.98688789e-01 -5.63458907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.36, Y:-13.85, Z:-5.63 [[ 9.73595861e-01 2.23004937e-01 4.87841873e-02 8.93640360e+01] [-2.23638496e-01 9.74640394e-01 7.86925126e-03 -1.38523795e+01] [-4.57921576e-02 -1.85714927e-02 9.98778343e-01 -5.62945160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:-13.84, Z:-5.64 [[ 9.73499994e-01 2.25010273e-01 4.08428640e-02 8.93955922e+01] [-2.23915212e-01 9.74155595e-01 -2.97128752e-02 -1.38407448e+01] [-4.64730066e-02 1.97801453e-02 9.98723688e-01 -5.63687646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:-13.87, Z:-5.63 [[ 9.73761459e-01 2.22048159e-01 4.98320789e-02 8.94192524e+01] [-2.22610477e-01 9.74889235e-01 5.96287729e-03 -1.38703360e+01] [-4.72567113e-02 -1.68995629e-02 9.98739810e-01 -5.63208368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.45, Y:-13.86, Z:-5.64 [[ 9.73467612e-01 2.24924694e-01 4.20676937e-02 8.94507905e+01] [-2.23869867e-01 9.74206365e-01 -2.83591384e-02 -1.38618130e+01] [-4.73612854e-02 1.81890138e-02 9.98712205e-01 -5.64107947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.47, Y:-13.89, Z:-5.64 [[ 9.73573897e-01 2.22901327e-01 4.96876730e-02 8.94744461e+01] [-2.23498243e-01 9.74681105e-01 6.72890574e-03 -1.38892568e+01] [-4.69297540e-02 -1.76561946e-02 9.98742137e-01 -5.63651580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.51, Y:-13.88, Z:-5.64 [[ 9.73140232e-01 2.26504264e-01 4.11571085e-02 8.95064632e+01] [-2.25442361e-01 9.73827977e-01 -2.88931371e-02 -1.38782123e+01] [-4.66243625e-02 1.88385185e-02 9.98734839e-01 -5.64481607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:-13.90, Z:-5.65 [[ 9.72618470e-01 2.28108384e-01 4.44958093e-02 8.95312930e+01] [-2.27850140e-01 9.73635653e-01 -1.08594844e-02 -1.39000806e+01] [-4.57998458e-02 4.23758745e-04 9.98950547e-01 -5.64609556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:-13.92, Z:-5.64 [[ 9.72268475e-01 2.28776320e-01 4.85325414e-02 8.95579052e+01] [-2.29273119e-01 9.73350026e-01 4.85426149e-03 -1.39175052e+01] [-4.61286104e-02 -1.58468526e-02 9.98809806e-01 -5.64178780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-13.91, Z:-5.65 [[ 9.71569966e-01 2.33199283e-01 4.08643581e-02 8.95909759e+01] [-2.32264829e-01 9.72295408e-01 -2.63569529e-02 -1.39080228e+01] [-4.58786502e-02 1.61162707e-02 9.98817008e-01 -5.64957935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-13.92, Z:-5.65 [[ 9.71039100e-01 2.34749213e-01 4.44507847e-02 8.96168341e+01] [-2.34498599e-01 9.72055963e-01 -1.08449007e-02 -1.39247183e+01] [-4.57544822e-02 1.07175868e-04 9.98952710e-01 -5.65121431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-13.93, Z:-5.65 [[ 9.69803729e-01 2.39879048e-01 4.40314634e-02 8.96439072e+01] [-2.39638486e-01 9.70802773e-01 -1.07411326e-02 -1.39338156e+01] [-4.53224394e-02 -1.34842763e-04 9.98972401e-01 -5.65303761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.67, Y:-13.94, Z:-5.66 [[ 9.69178011e-01 2.42369535e-01 4.41700367e-02 8.96705194e+01] [-2.42130131e-01 9.70183974e-01 -1.07729011e-02 -1.39409987e+01] [-4.54640848e-02 -2.54037941e-04 9.98965942e-01 -5.65524935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.70, Y:-13.95, Z:-5.66 [[ 9.68631787e-01 2.44474170e-01 4.45515609e-02 8.96985063e+01] [-2.44232980e-01 9.69655739e-01 -1.08628015e-02 -1.39479513e+01] [-4.58553511e-02 -3.58905679e-04 9.98948026e-01 -5.65695967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.73, Y:-13.95, Z:-5.66 [[ 9.68640540e-01 2.44439382e-01 4.45521354e-02 8.97269613e+01] [-2.44198263e-01 9.69664508e-01 -1.08604450e-02 -1.39548007e+01] [-4.58553449e-02 -3.59686780e-04 9.98948026e-01 -5.65888706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-13.96, Z:-5.66 [[ 9.67825306e-01 2.47504429e-01 4.53402088e-02 8.97548023e+01] [-2.47258128e-01 9.68886625e-01 -1.10510626e-02 -1.39631970e+01] [-4.66647088e-02 -5.15237073e-04 9.98910476e-01 -5.65972119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-13.97, Z:-5.66 [[ 9.67543243e-01 2.48404283e-01 4.64261292e-02 8.97819295e+01] [-2.48147182e-01 9.68656277e-01 -1.13134309e-02 -1.39706742e+01] [-4.77812662e-02 -5.74279541e-04 9.98857658e-01 -5.66146841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.81, Y:-13.99, Z:-5.66 [[ 9.67508458e-01 2.47586090e-01 5.12690026e-02 8.98083711e+01] [-2.48048013e-01 9.68743833e-01 2.75122883e-03 -1.39855823e+01] [-4.89853641e-02 -1.53790114e-02 9.98681090e-01 -5.65903068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-13.98, Z:-5.66 [[ 9.67359551e-01 2.49740197e-01 4.29573445e-02 8.98390029e+01] [-2.48814774e-01 9.68208119e-01 -2.57729731e-02 -1.39760381e+01] [-4.80281972e-02 1.42433097e-02 9.98744422e-01 -5.66474378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-13.99, Z:-5.67 [[ 9.67584046e-01 2.48358412e-01 4.58171679e-02 8.98650891e+01] [-2.48108132e-01 9.68668042e-01 -1.11614721e-02 -1.39917955e+01] [-4.71536718e-02 -5.67949590e-04 9.98887485e-01 -5.66567455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-14.00, Z:-5.67 [[ 9.67697436e-01 2.47949056e-01 4.56392095e-02 8.98915549e+01] [-2.47700359e-01 9.68772917e-01 -1.11160527e-02 -1.39989356e+01] [-4.69702449e-02 -5.47872878e-04 9.98896139e-01 -5.66716438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.92, Y:-14.01, Z:-5.67 [[ 9.67912527e-01 2.47128293e-01 4.55296248e-02 8.99195641e+01] [-2.46880027e-01 9.68982635e-01 -1.10862640e-02 -1.40065696e+01] [-4.68571453e-02 -5.09821204e-04 9.98901471e-01 -5.66911263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:-14.01, Z:-5.67 [[ 9.68342908e-01 2.45625524e-01 4.44984708e-02 8.99471119e+01] [-2.45386894e-01 9.69364698e-01 -1.08330318e-02 -1.40136030e+01] [-4.57961158e-02 -4.29252005e-04 9.98950715e-01 -5.67045509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:-14.02, Z:-5.67 [[ 9.68613312e-01 2.44598489e-01 4.42699881e-02 8.99750303e+01] [-2.44361334e-01 9.69624378e-01 -1.07751680e-02 -1.40200079e+01] [-4.55608495e-02 -3.80902225e-04 9.98961493e-01 -5.67259614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-14.03, Z:-5.67 [[ 9.68868219e-01 2.43577515e-01 4.43211994e-02 9.00020722e+01] [-2.43338834e-01 9.69881375e-01 -1.07856232e-02 -1.40265286e+01] [-4.56134411e-02 -3.35221488e-04 9.98959109e-01 -5.67474147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-14.03, Z:-5.68 [[ 9.69087603e-01 2.42620489e-01 4.47718272e-02 9.00297562e+01] [-2.42376050e-01 9.70121235e-01 -1.08921774e-02 -1.40339319e+01] [-4.60767657e-02 -2.96144567e-04 9.98937858e-01 -5.67658251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.06, Y:-14.04, Z:-5.68 [[ 9.69499481e-01 2.41007574e-01 4.45657366e-02 9.00584291e+01] [-2.40763801e-01 9.70523210e-01 -1.08393468e-02 -1.40422934e+01] [-4.58644464e-02 -2.21075045e-04 9.98947648e-01 -5.67786946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.09, Y:-14.05, Z:-5.68 [[ 9.69594512e-01 2.40757324e-01 4.38451108e-02 9.00867636e+01] [-2.40521169e-01 9.70585322e-01 -1.06629755e-02 -1.40502037e+01] [-4.51226105e-02 -2.06914817e-04 9.98981435e-01 -5.67879828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:-14.06, Z:-5.68 [[ 9.69568026e-01 2.40846093e-01 4.39431840e-02 9.01141905e+01] [-2.40609011e-01 9.70563298e-01 -1.06859386e-02 -1.40573397e+01] [-4.52233081e-02 -2.12381629e-04 9.98976880e-01 -5.68058837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:-14.06, Z:-5.68 [[ 9.69437992e-01 2.41421903e-01 4.36513893e-02 9.01429001e+01] [-2.41188609e-01 9.70420222e-01 -1.06135392e-02 -1.40625480e+01] [-4.49225317e-02 -2.39049702e-04 9.98990445e-01 -5.68232767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-14.07, Z:-5.68 [[ 9.69307158e-01 2.41921035e-01 4.37932160e-02 9.01710103e+01] [-2.41686830e-01 9.70295905e-01 -1.06458404e-02 -1.40685326e+01] [-4.50678308e-02 -2.65154209e-04 9.98983894e-01 -5.68407213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.20, Y:-14.08, Z:-5.69 [[ 9.69195522e-01 2.42271002e-01 4.43260836e-02 9.01980961e+01] [-2.42031518e-01 9.70208575e-01 -1.07733339e-02 -1.40751150e+01] [-4.56156128e-02 -2.86842308e-04 9.98959025e-01 -5.68578504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-14.08, Z:-5.69 [[ 9.69038813e-01 2.42756490e-01 4.50895291e-02 9.02257963e+01] [-2.42509364e-01 9.70087205e-01 -1.09554981e-02 -1.40822249e+01] [-4.64002936e-02 -3.18330135e-04 9.98922876e-01 -5.68748057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-14.09, Z:-5.69 [[ 9.68876612e-01 2.43397926e-01 4.51171772e-02 9.02548566e+01] [-2.43151323e-01 9.69926454e-01 -1.09594006e-02 -1.40888030e+01] [-4.64278391e-02 -3.51994404e-04 9.98921584e-01 -5.68919662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.28, Y:-14.10, Z:-5.69 [[ 9.68927020e-01 2.43321837e-01 4.44399989e-02 9.02826066e+01] [-2.43082545e-01 9.69945548e-01 -1.07940205e-02 -1.40956357e+01] [-4.57308000e-02 -3.43969986e-04 9.98953740e-01 -5.69054671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-14.10, Z:-5.69 [[ 9.69030695e-01 2.42816899e-01 4.49384710e-02 9.03108352e+01] [-2.42571735e-01 9.70072084e-01 -1.09135538e-02 -1.41016077e+01] [-4.62435515e-02 -3.25234279e-04 9.98930142e-01 -5.69295826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.34, Y:-14.11, Z:-5.69 [[ 9.69174414e-01 2.42375689e-01 4.42151585e-02 9.03396896e+01] [-2.42138023e-01 9.70182423e-01 -1.07351557e-02 -1.41083537e+01] [-4.54987104e-02 -3.01932843e-04 9.98964352e-01 -5.69436930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-14.11, Z:-5.70 [[ 9.69584938e-01 2.40758484e-01 4.40499718e-02 9.03679452e+01] [-2.40520972e-01 9.70585030e-01 -1.06939775e-02 -1.41147899e+01] [-4.53289090e-02 -2.26222465e-04 9.98972091e-01 -5.69731490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-14.12, Z:-5.70 [[ 9.69820933e-01 2.39724483e-01 4.44919206e-02 9.03951122e+01] [-2.39481120e-01 9.70840945e-01 -1.08006235e-02 -1.41222986e+01] [-4.57837521e-02 -1.80304205e-04 9.98951358e-01 -5.69964612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-14.13, Z:-5.70 [[ 9.70207991e-01 2.38112244e-01 4.47103286e-02 9.04228396e+01] [-2.37864939e-01 9.71237637e-01 -1.08500174e-02 -1.41316685e+01] [-4.60078758e-02 -1.08246046e-04 9.98941071e-01 -5.70115353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-14.15, Z:-5.70 [[ 9.70264810e-01 2.36601475e-01 5.10484194e-02 9.04492303e+01] [-2.36983307e-01 9.71512604e-01 1.47406078e-03 -1.41457360e+01] [-4.92454179e-02 -1.35278526e-02 9.98695092e-01 -5.70405727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-14.14, Z:-5.71 [[ 9.70246712e-01 2.37611328e-01 4.64991880e-02 9.04802683e+01] [-2.37157828e-01 9.71353489e-01 -1.51183159e-02 -1.41437938e+01] [-4.87594317e-02 3.64084989e-03 9.98803916e-01 -5.70505872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-14.15, Z:-5.71 [[ 9.70410556e-01 2.37433000e-01 4.39195127e-02 9.05113535e+01] [-2.36740217e-01 9.71358164e-01 -2.04300427e-02 -1.41492670e+01] [-4.75123435e-02 9.42801414e-03 9.98826156e-01 -5.70782433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-14.16, Z:-5.71 [[ 9.70549119e-01 2.36428180e-01 4.62182183e-02 9.05393589e+01] [-2.36161687e-01 9.71648967e-01 -1.12223948e-02 -1.41633206e+01] [-4.75611745e-02 -2.30870517e-05 9.98868327e-01 -5.70983347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-14.18, Z:-5.71 [[ 9.70643599e-01 2.35916482e-01 4.68446090e-02 9.05667215e+01] [-2.36186983e-01 9.71707594e-01 2.46479816e-04 -1.41787909e+01] [-4.54611137e-02 -1.13033309e-02 9.98902158e-01 -5.70569686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-14.17, Z:-5.71 [[ 9.70362718e-01 2.37805096e-01 4.29526663e-02 9.05990804e+01] [-2.37050339e-01 9.71249168e-01 -2.19588335e-02 -1.41745085e+01] [-4.69396639e-02 1.11260893e-02 9.98835761e-01 -5.71429776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.63, Y:-14.19, Z:-5.72 [[ 9.70199302e-01 2.38126237e-01 4.48242034e-02 9.06273647e+01] [-2.37877089e-01 9.71234208e-01 -1.08905876e-02 -1.41880658e+01] [-4.61281343e-02 -9.66105193e-05 9.98935526e-01 -5.71552316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-14.20, Z:-5.71 [[ 9.69566052e-01 2.40485418e-01 4.59176973e-02 9.06548372e+01] [-2.40805773e-01 9.70572174e-01 1.49501021e-03 -1.42032093e+01] [-4.42069111e-02 -1.25067577e-02 9.98944108e-01 -5.71180030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:-14.20, Z:-5.72 [[ 9.68989170e-01 2.43466881e-01 4.22358488e-02 9.06868196e+01] [-2.42677074e-01 9.69834594e-01 -2.29934410e-02 -1.41975211e+01] [-4.65599286e-02 1.20307231e-02 9.98843048e-01 -5.72109764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.72, Y:-14.21, Z:-5.72 [[ 9.68718709e-01 2.43996162e-01 4.52762167e-02 9.07158224e+01] [-2.43748062e-01 9.69776125e-01 -1.10067680e-02 -1.42115268e+01] [-4.65934031e-02 -3.73527995e-04 9.98913868e-01 -5.72257219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-14.23, Z:-5.72 [[ 9.68474944e-01 2.44571036e-01 4.73422776e-02 9.07434177e+01] [-2.45014188e-01 9.69512410e-01 3.70593306e-03 -1.42263728e+01] [-4.49925617e-02 -1.51886330e-02 9.98871851e-01 -5.71712520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-14.22, Z:-5.73 [[ 9.67618609e-01 2.48573184e-01 4.38816637e-02 9.07772391e+01] [-2.47634508e-01 9.68511158e-01 -2.57543491e-02 -1.42174570e+01] [-4.89017215e-02 1.40537733e-02 9.98704718e-01 -5.72682171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-14.23, Z:-5.73 [[ 9.67570299e-01 2.48209404e-01 4.69021079e-02 9.08043524e+01] [-2.47947657e-01 9.68706223e-01 -1.14111254e-02 -1.42318482e+01] [-4.82667124e-02 -5.88201757e-04 9.98834310e-01 -5.72862933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-14.24, Z:-5.73 [[ 9.67475594e-01 2.48689559e-01 4.63085201e-02 9.08315799e+01] [-2.48434993e-01 9.68583056e-01 -1.12657614e-02 -1.42390619e+01] [-4.76553252e-02 -6.05307678e-04 9.98863656e-01 -5.73151102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-14.25, Z:-5.73 [[ 9.67441892e-01 2.49009203e-01 4.52835728e-02 9.08596077e+01] [-2.48766229e-01 9.68500927e-01 -1.10144465e-02 -1.42468856e+01] [-4.65998808e-02 -6.09186635e-04 9.98913450e-01 -5.73490840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-14.25, Z:-5.74 [[ 9.67384961e-01 2.49084295e-01 4.60798255e-02 9.08873938e+01] [-2.48832828e-01 9.68481607e-01 -1.12071423e-02 -1.42526549e+01] [-4.74189866e-02 -6.24552347e-04 9.98874892e-01 -5.73649885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-14.26, Z:-5.74 [[ 9.67356105e-01 2.49056430e-01 4.68301262e-02 9.09145262e+01] [-2.48796730e-01 9.68488767e-01 -1.13883958e-02 -1.42580041e+01] [-4.81908044e-02 -6.34548056e-04 9.98837947e-01 -5.73831348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:90.94, Y:-14.26, Z:-5.74 [[ 9.67482415e-01 2.48708902e-01 4.60614752e-02 9.09437549e+01] [-2.48457463e-01 9.68578086e-01 -1.11973397e-02 -1.42643908e+01] [-4.73990135e-02 -6.11088063e-04 9.98875848e-01 -5.73951638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-14.27, Z:-5.74 [[ 9.67376869e-01 2.48995852e-01 4.67232249e-02 9.09710423e+01] [-2.48737524e-01 9.68504343e-01 -1.13570227e-02 -1.42715955e+01] [-4.80794978e-02 -6.35298167e-04 9.98843310e-01 -5.74141830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-14.28, Z:-5.74 [[ 9.67371156e-01 2.49003470e-01 4.68008395e-02 9.10000366e+01] [-2.48744363e-01 9.68502382e-01 -1.13744206e-02 -1.42784692e+01] [-4.81589947e-02 -6.38158573e-04 9.98839479e-01 -5.74390389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.03, Y:-14.28, Z:-5.75 [[ 9.67494184e-01 2.48694340e-01 4.58925837e-02 9.10292742e+01] [-2.48444904e-01 9.68581825e-01 -1.11525208e-02 -1.42846571e+01] [-4.72242912e-02 -6.11779505e-04 9.98884123e-01 -5.74564383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:91.06, Y:-14.29, Z:-5.75 [[ 9.67528642e-01 2.48565861e-01 4.58621859e-02 9.10581756e+01] [-2.48316667e-01 9.68614807e-01 -1.11439563e-02 -1.42909957e+01] [-4.71927994e-02 -6.06248247e-04 9.98885615e-01 -5.74844934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-14.30, Z:-5.75 [[ 9.67394324e-01 2.48785502e-01 4.74762585e-02 9.10859990e+01] [-2.48518766e-01 9.68558395e-01 -1.15351016e-02 -1.42966949e+01] [-4.88532948e-02 -6.39749298e-04 9.98805760e-01 -5.75060850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:-14.30, Z:-5.75 [[ 9.67472639e-01 2.48484284e-01 4.74579200e-02 9.11144859e+01] [-2.48217491e-01 9.68635725e-01 -1.15286074e-02 -1.43034204e+01] [-4.88341145e-02 -6.26273549e-04 9.98806707e-01 -5.75291457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:91.14, Y:-14.31, Z:-5.76 [[ 9.67695016e-01 2.47757208e-01 4.67196076e-02 9.11427888e+01] [-2.47497854e-01 9.68821980e-01 -1.13483154e-02 -1.43099403e+01] [-4.80746096e-02 -5.81294393e-04 9.98843578e-01 -5.75525485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:-14.32, Z:-5.76 [[ 9.67821777e-01 2.47174152e-01 4.71799438e-02 9.11704113e+01] [-2.46909045e-01 9.68970911e-01 -1.14585256e-02 -1.43177420e+01] [-4.85482445e-02 -5.59344230e-04 9.98820682e-01 -5.75760513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:-14.32, Z:-5.76 [[ 9.68039427e-01 2.46429374e-01 4.66071926e-02 9.11990006e+01] [-2.46169938e-01 9.69160614e-01 -1.13166643e-02 -1.43240587e+01] [-4.79586139e-02 -5.18312465e-04 9.98849189e-01 -5.75966356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:-14.33, Z:-5.76 [[ 9.68214999e-01 2.45802031e-01 4.62717657e-02 9.12285600e+01] [-2.45545680e-01 9.69319930e-01 -1.12335598e-02 -1.43302813e+01] [-4.76133764e-02 -4.85331093e-04 9.98865722e-01 -5.76219294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-14.34, Z:-5.76 [[ 9.68213354e-01 2.45688183e-01 4.69064735e-02 9.12572382e+01] [-2.45424580e-01 9.69348792e-01 -1.13883553e-02 -1.43354729e+01] [-4.82667177e-02 -4.85643849e-04 9.98834365e-01 -5.76402103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.29, Y:-14.34, Z:-5.77 [[ 9.68185490e-01 2.45778400e-01 4.70088719e-02 9.12863056e+01] [-2.45513852e-01 9.69325918e-01 -1.14111175e-02 -1.43414870e+01] [-4.83715241e-02 -4.93250863e-04 9.98829291e-01 -5.76590532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-14.35, Z:-5.77 [[ 9.67984403e-01 2.46470439e-01 4.75238666e-02 9.13142460e+01] [-2.46200943e-01 9.69150162e-01 -1.15351106e-02 -1.43481288e+01] [-4.89008268e-02 -5.34613641e-04 9.98803496e-01 -5.76773937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.34, Y:-14.36, Z:-5.77 [[ 9.67868735e-01 2.46878969e-01 4.77586282e-02 9.13432928e+01] [-2.46607400e-01 9.69046161e-01 -1.15900377e-02 -1.43553857e+01] [-4.91416519e-02 -5.59996002e-04 9.98791662e-01 -5.76954037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-14.36, Z:-5.77 [[ 9.67777835e-01 2.47285047e-01 4.74991225e-02 9.13709067e+01] [-2.47016970e-01 9.68942604e-01 -1.15258851e-02 -1.43636519e+01] [-4.88741025e-02 -5.78593211e-04 9.98804779e-01 -5.77183530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.40, Y:-14.37, Z:-5.77 [[ 9.67934264e-01 2.46726866e-01 4.72135046e-02 9.13996554e+01] [-2.46461411e-01 9.69084905e-01 -1.14551372e-02 -1.43698169e+01] [-4.85801847e-02 -5.48487126e-04 9.98819135e-01 -5.77378406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-14.39, Z:-5.77 [[ 9.68231663e-01 2.45116166e-01 4.94521226e-02 9.14270576e+01] [-2.45828188e-01 9.69273690e-01 8.77584155e-03 -1.43870677e+01] [-4.57815407e-02 -2.06537733e-02 9.98737940e-01 -5.76535224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-14.37, Z:-5.78 [[ 9.68274992e-01 2.46062515e-01 4.35520276e-02 9.14614091e+01] [-2.44855069e-01 9.69055759e-01 -3.12558992e-02 -1.43707765e+01] [-4.98952483e-02 1.96003709e-02 9.98562111e-01 -5.77801906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.49, Y:-14.39, Z:-5.78 [[ 9.68589319e-01 2.43900163e-01 4.84504101e-02 9.14867571e+01] [-2.43617024e-01 9.69800256e-01 -1.17562078e-02 -1.43887488e+01] [-4.98545611e-02 -4.16407431e-04 9.98756401e-01 -5.77967151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:-14.40, Z:-5.78 [[ 9.68818330e-01 2.42951032e-01 4.86398874e-02 9.15160796e+01] [-2.42664601e-01 9.70038483e-01 -1.17997150e-02 -1.43970991e+01] [-5.00493155e-02 -3.71398729e-04 9.98746679e-01 -5.78130271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-14.41, Z:-5.78 [[ 9.68915021e-01 2.42500165e-01 4.89627595e-02 9.15452542e+01] [-2.42209341e-01 9.70151301e-01 -1.18780416e-02 -1.44058092e+01] [-5.03817119e-02 -3.50424765e-04 9.98729974e-01 -5.78321930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:-14.41, Z:-5.79 [[ 9.68917986e-01 2.42488327e-01 4.89627123e-02 9.15745139e+01] [-2.42197478e-01 9.70154261e-01 -1.18782361e-02 -1.44128671e+01] [-5.03817176e-02 -3.49608847e-04 9.98729974e-01 -5.78523194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:91.60, Y:-14.42, Z:-5.79 [[ 9.68850998e-01 2.42891871e-01 4.82833603e-02 9.16024635e+01] [-2.42609574e-01 9.70053300e-01 -1.17128109e-02 -1.44209730e+01] [-4.96823795e-02 -3.66036961e-04 9.98765001e-01 -5.78707089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-14.43, Z:-5.79 [[ 9.68499561e-01 2.44287028e-01 4.82954259e-02 9.16318071e+01] [-2.44006343e-01 9.69702870e-01 -1.17153225e-02 -1.44271778e+01] [-4.96941144e-02 -4.38105583e-04 9.98764388e-01 -5.78868102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:-14.43, Z:-5.79 [[ 9.68253170e-01 2.45279723e-01 4.82043182e-02 9.16605597e+01] [-2.45001386e-01 9.69452226e-01 -1.16919951e-02 -1.44322515e+01] [-4.95995929e-02 -4.89313402e-04 9.98769063e-01 -5.79073803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.69, Y:-14.44, Z:-5.79 [[ 9.67788541e-01 2.47109511e-01 4.81895210e-02 9.16885377e+01] [-2.46833650e-01 9.68987383e-01 -1.16875963e-02 -1.44375812e+01] [-4.95831540e-02 -5.83673636e-04 9.98769828e-01 -5.79353591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:-14.44, Z:-5.80 [[ 9.67759824e-01 2.47260501e-01 4.79913316e-02 9.17164102e+01] [-2.46987212e-01 9.68948861e-01 -1.16371013e-02 -1.44446141e+01] [-4.93785416e-02 -5.91326110e-04 9.98779961e-01 -5.79585167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:91.75, Y:-14.45, Z:-5.80 [[ 9.67890789e-01 2.46861414e-01 4.74010766e-02 9.17452061e+01] [-2.46594468e-01 9.69050629e-01 -1.14911834e-02 -1.44519790e+01] [-4.87707729e-02 -5.66632687e-04 9.98809837e-01 -5.79809183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-14.46, Z:-5.80 [[ 9.67890588e-01 2.46799032e-01 4.77288841e-02 9.17724305e+01] [-2.46528355e-01 9.69066517e-01 -1.15696074e-02 -1.44598158e+01] [-4.91078314e-02 -5.68409112e-04 9.98793321e-01 -5.79968360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.80, Y:-14.47, Z:-5.80 [[ 9.68058992e-01 2.46278543e-01 4.69964652e-02 9.18012840e+01] [-2.46015599e-01 9.69198944e-01 -1.13900288e-02 -1.44671661e+01] [-4.83540441e-02 -5.35643681e-04 9.98830115e-01 -5.80213062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.83, Y:-14.48, Z:-5.80 [[ 9.67973128e-01 2.45605698e-01 5.20179279e-02 9.18261193e+01] [-2.45852796e-01 9.69305697e-01 -1.69369059e-03 -1.44804704e+01] [-5.08372539e-02 -1.11493060e-02 9.98644715e-01 -5.80415581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:91.86, Y:-14.48, Z:-5.81 [[ 9.68287526e-01 2.45810931e-01 4.46794504e-02 9.18600635e+01] [-2.45066900e-01 9.69267403e-01 -2.15154918e-02 -1.44756297e+01] [-4.85950779e-02 9.88372791e-03 9.98769658e-01 -5.80615637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.88, Y:-14.49, Z:-5.81 [[ 9.67999948e-01 2.45805212e-01 5.05558946e-02 9.18844963e+01] [-2.45774551e-01 9.69302323e-01 -6.91928749e-03 -1.44911382e+01] [-5.07047430e-02 -5.72748234e-03 9.98697264e-01 -5.80755933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-14.49, Z:-5.81 [[ 9.68086686e-01 2.46174771e-01 4.69696748e-02 9.19146723e+01] [-2.45654028e-01 9.69214656e-01 -1.66448122e-02 -1.44922991e+01] [-4.96212300e-02 4.57533130e-03 9.98757628e-01 -5.80886662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.94, Y:-14.50, Z:-5.81 [[ 9.68038099e-01 2.46048270e-01 4.86054316e-02 9.19415953e+01] [-2.45766672e-01 9.69257425e-01 -1.17807916e-02 -1.45020753e+01] [-5.00098188e-02 -5.41340125e-04 9.98748579e-01 -5.81086447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:-14.51, Z:-5.81 [[ 9.67902462e-01 2.46533831e-01 4.88456158e-02 9.19695743e+01] [-2.46250193e-01 9.69134017e-01 -1.18363340e-02 -1.45092090e+01] [-5.02560046e-02 -5.71825546e-04 9.98736205e-01 -5.81234339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-14.52, Z:-5.81 [[ 9.67880536e-01 2.46727548e-01 4.82989120e-02 9.19981827e+01] [-2.46450567e-01 9.69084715e-01 -1.17018770e-02 -1.45165602e+01] [-4.96929128e-02 -5.77275268e-04 9.98764377e-01 -5.81426772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-14.52, Z:-5.82 [[ 9.67758775e-01 2.47270745e-01 4.79596882e-02 9.20264353e+01] [-2.46998371e-01 9.68946240e-01 -1.16184674e-02 -1.45239956e+01] [-4.93432666e-02 -6.02091036e-04 9.98781698e-01 -5.81597168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-14.54, Z:-5.81 [[ 9.67364241e-01 2.48327318e-01 5.03981032e-02 9.20526429e+01] [-2.48710200e-01 9.68576971e-01 1.37371805e-03 -1.45381525e+01] [-4.84733104e-02 -1.38634080e-02 9.98728263e-01 -5.81155352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-14.53, Z:-5.82 [[ 9.67189247e-01 2.50137754e-01 4.44529522e-02 9.20855534e+01] [-2.49271747e-01 9.68132427e-01 -2.41495284e-02 -1.45298034e+01] [-4.90770533e-02 1.22762992e-02 9.98719548e-01 -5.82035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-14.54, Z:-5.82 [[ 9.67107764e-01 2.50021690e-01 4.68158799e-02 9.21121071e+01] [-2.49765523e-01 9.68239963e-01 -1.13383560e-02 -1.45426167e+01] [-4.81638407e-02 -7.27580566e-04 9.98839184e-01 -5.82213706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.14, Y:-14.55, Z:-5.82 [[ 9.67063355e-01 2.50274811e-01 4.63787208e-02 9.21410128e+01] [-2.50023794e-01 9.68174560e-01 -1.12304907e-02 -1.45491806e+01] [-4.77134065e-02 -7.35187733e-04 9.98860796e-01 -5.82497576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:-14.56, Z:-5.83 [[ 9.66959362e-01 2.50603167e-01 4.67722672e-02 9.21688018e+01] [-2.50348302e-01 9.68089602e-01 -1.13247927e-02 -1.45560861e+01] [-4.81177744e-02 -7.58743318e-04 9.98841381e-01 -5.82649168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:-14.56, Z:-5.83 [[ 9.66849036e-01 2.50908591e-01 4.74111906e-02 9.21978882e+01] [-2.50647180e-01 9.68010465e-01 -1.14774111e-02 -1.45626126e+01] [-4.87743097e-02 -7.86557339e-04 9.98809515e-01 -5.82857346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.58, Z:-5.82 [[ 9.66917573e-01 2.50313245e-01 4.91292795e-02 9.22232705e+01] [-2.50844552e-01 9.68015159e-01 4.86451153e-03 -1.45766927e+01] [-4.63402357e-02 -1.70273938e-02 9.98780582e-01 -5.82088811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:-14.56, Z:-5.83 [[ 9.66573120e-01 2.52608014e-01 4.38815883e-02 9.22551106e+01] [-2.51574060e-01 9.67439753e-01 -2.77635965e-02 -1.45637595e+01] [-4.94660999e-02 1.57960767e-02 9.98650884e-01 -5.83152991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-14.58, Z:-5.83 [[ 9.66647971e-01 2.51684915e-01 4.73962402e-02 9.22812838e+01] [-2.51424824e-01 9.67808873e-01 -1.14692057e-02 -1.45778322e+01] [-4.87571279e-02 -8.29906984e-04 9.98810319e-01 -5.83341493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:-14.58, Z:-5.84 [[ 9.66683004e-01 2.51715999e-01 4.65083298e-02 9.23099159e+01] [-2.51465713e-01 9.67800799e-01 -1.12520620e-02 -1.45833051e+01] [-4.78431228e-02 -8.18073205e-04 9.98854527e-01 -5.83552763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:-14.59, Z:-5.84 [[ 9.66658892e-01 2.51785142e-01 4.66350611e-02 9.23386638e+01] [-2.51533680e-01 9.67782806e-01 -1.12804154e-02 -1.45872792e+01] [-4.79728513e-02 -8.25974721e-04 9.98848298e-01 -5.83788529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-14.59, Z:-5.84 [[ 9.66654930e-01 2.51747090e-01 4.69217311e-02 9.23668205e+01] [-2.51492599e-01 9.67792700e-01 -1.13473180e-02 -1.45921929e+01] [-4.82671631e-02 -8.31527154e-04 9.98834115e-01 -5.83909356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-14.60, Z:-5.84 [[ 9.66660411e-01 2.51741058e-01 4.68411173e-02 9.23947563e+01] [-2.51487537e-01 9.67794269e-01 -1.13256683e-02 -1.45967995e+01] [-4.81837007e-02 -8.31882061e-04 9.98838145e-01 -5.84079937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.60, Z:-5.84 [[ 9.66773863e-01 2.51301360e-01 4.68606925e-02 9.24235749e+01] [-2.51047279e-01 9.67908552e-01 -1.13269223e-02 -1.46020368e+01] [-4.82033360e-02 -8.13676933e-04 9.98837212e-01 -5.84254778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:-14.60, Z:-5.84 [[ 9.67153579e-01 2.49642375e-01 4.78815071e-02 9.24516396e+01] [-2.49375180e-01 9.68337815e-01 -1.15713489e-02 -1.46049320e+01] [-4.92541730e-02 -7.49187996e-04 9.98785996e-01 -5.84387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-14.62, Z:-5.84 [[ 9.67730895e-01 2.47127316e-01 4.92443302e-02 9.24776745e+01] [-2.47628907e-01 9.68845576e-01 4.26318723e-03 -1.46181090e+01] [-4.66566014e-02 -1.63199377e-02 9.98777664e-01 -5.83713263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-14.61, Z:-5.85 [[ 9.68102127e-01 2.46703934e-01 4.37657609e-02 9.25095155e+01] [-2.45724041e-01 9.68974919e-01 -2.65951596e-02 -1.46061970e+01] [-4.89690551e-02 1.49925309e-02 9.98687767e-01 -5.84739006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-14.62, Z:-5.85 [[ 9.69691036e-01 2.39688206e-01 4.74221217e-02 9.25355614e+01] [-2.39414644e-01 9.70849886e-01 -1.14510524e-02 -1.46187711e+01] [-4.87844437e-02 -2.49567584e-04 9.98809299e-01 -5.84975008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:92.56, Y:-14.62, Z:-5.85 [[ 9.70601487e-01 2.36033185e-01 4.71284279e-02 9.25640864e+01] [-2.35758806e-01 9.71744993e-01 -1.13778034e-02 -1.46246385e+01] [-4.84823530e-02 -6.76290211e-05 9.98824037e-01 -5.85254809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:-14.64, Z:-5.85 [[ 9.71222935e-01 2.32490771e-01 5.17112369e-02 9.25894093e+01] [-2.32568498e-01 9.72569175e-01 -4.59277753e-03 -1.46356778e+01] [-5.13605334e-02 -7.56579382e-03 9.98651518e-01 -5.85435487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-14.64, Z:-5.86 [[ 9.71818722e-01 2.30345189e-01 5.00945702e-02 9.26177637e+01] [-2.29993228e-01 9.73108588e-01 -1.27589829e-02 -1.46386774e+01] [-5.16864268e-02 8.78006536e-04 9.98662977e-01 -5.85640838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.65, Y:-14.64, Z:-5.86 [[ 9.73137701e-01 2.25392813e-01 4.69158346e-02 9.26490517e+01] [-2.24762960e-01 9.74240441e-01 -1.83623065e-02 -1.46433290e+01] [-4.98460353e-02 7.32411088e-03 9.98730059e-01 -5.85784953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:-14.65, Z:-5.86 [[ 9.73498644e-01 2.23440296e-01 4.87321662e-02 9.26782947e+01] [-2.23130870e-01 9.74717443e-01 -1.17695103e-02 -1.46549138e+01] [-5.01298753e-02 5.83951663e-04 9.98742537e-01 -5.85897702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-14.66, Z:-5.86 [[ 9.73786721e-01 2.22155718e-01 4.88493463e-02 9.27074899e+01] [-2.21843112e-01 9.75010980e-01 -1.17992890e-02 -1.46632998e+01] [-5.02499285e-02 6.53099961e-04 9.98736461e-01 -5.86126614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:-14.67, Z:-5.86 [[ 9.73980760e-01 2.21340894e-01 4.86794387e-02 9.27367861e+01] [-2.21029401e-01 9.75196251e-01 -1.17590810e-02 -1.46720288e+01] [-5.00747717e-02 6.93531425e-04 9.98745231e-01 -5.86341412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:-14.68, Z:-5.87 [[ 9.74229617e-01 2.20229035e-01 4.87424314e-02 9.27668040e+01] [-2.19915366e-01 9.75447901e-01 -1.17738877e-02 -1.46812707e+01] [-5.01386544e-02 7.51260495e-04 9.98741984e-01 -5.86527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:-14.69, Z:-5.87 [[ 9.74227397e-01 2.20132082e-01 4.92224013e-02 9.27974429e+01] [-2.19812136e-01 9.75469777e-01 -1.18886547e-02 -1.46901241e+01] [-5.06320391e-02 7.62571933e-04 9.98717085e-01 -5.86746728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-14.70, Z:-5.87 [[ 9.74177533e-01 2.20465027e-01 4.87165927e-02 9.28274335e+01] [-2.20151557e-01 9.75394594e-01 -1.17761682e-02 -1.47023666e+01] [-5.01141344e-02 7.47044728e-04 9.98743218e-01 -5.87000557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-14.71, Z:-5.87 [[ 9.74108017e-01 2.21049551e-01 4.74411980e-02 9.28579093e+01] [-2.20752730e-01 9.75262325e-01 -1.14730362e-02 -1.47119434e+01] [-4.88037225e-02 7.03202544e-04 9.98808141e-01 -5.87205634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:-14.72, Z:-5.87 [[ 9.73923997e-01 2.21945978e-01 4.70322407e-02 9.28875184e+01] [-2.21654883e-01 9.75058740e-01 -1.13827398e-02 -1.47210420e+01] [-4.83855506e-02 6.60997590e-04 9.98828515e-01 -5.87411258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.92, Y:-14.73, Z:-5.88 [[ 9.73639220e-01 2.23193010e-01 4.70271193e-02 9.29178024e+01] [-2.22903068e-01 9.74774083e-01 -1.13890266e-02 -1.47303272e+01] [-4.83827682e-02 6.06313841e-04 9.98828684e-01 -5.87627566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.95, Y:-14.74, Z:-5.88 [[ 9.73315439e-01 2.24644993e-01 4.68154177e-02 9.29475055e+01] [-2.24358913e-01 9.74440524e-01 -1.13464929e-02 -1.47401085e+01] [-4.81677730e-02 5.40260525e-04 9.98839113e-01 -5.87897989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:-14.75, Z:-5.88 [[ 9.72459280e-01 2.28337777e-01 4.67419258e-02 9.29767028e+01] [-2.28056353e-01 9.73581905e-01 -1.13390902e-02 -1.47519743e+01] [-4.80962358e-02 3.67010388e-04 9.98842639e-01 -5.87973361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:-14.76, Z:-5.88 [[ 9.71932916e-01 2.30501534e-01 4.70685679e-02 9.30062633e+01] [-2.30218635e-01 9.73071926e-01 -1.14195676e-02 -1.47612730e+01] [-4.84333298e-02 2.62992189e-04 9.98826383e-01 -5.88190903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:-14.77, Z:-5.88 [[ 9.71439661e-01 2.32579313e-01 4.70302832e-02 9.30360746e+01] [-2.32299314e-01 9.72577420e-01 -1.14101282e-02 -1.47709001e+01] [-4.83943512e-02 1.59148585e-04 9.98828294e-01 -5.88351793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-14.78, Z:-5.88 [[ 9.70266087e-01 2.37269258e-01 4.78227885e-02 9.30652811e+01] [-2.36985121e-01 9.71443922e-01 -1.16085395e-02 -1.47822104e+01] [-4.92115068e-02 -6.99170902e-05 9.98788377e-01 -5.88473605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:93.09, Y:-14.79, Z:-5.89 [[ 9.69651605e-01 2.39648783e-01 4.84171963e-02 9.30940155e+01] [-2.39360381e-01 9.70859632e-01 -1.17551466e-02 -1.47903645e+01] [-4.98234079e-02 -1.90761755e-04 9.98758025e-01 -5.88828278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.12, Y:-14.80, Z:-5.89 [[ 9.69079437e-01 2.41859107e-01 4.88796124e-02 9.31244981e+01] [-2.41567954e-01 9.70311330e-01 -1.18678444e-02 -1.47987853e+01] [-5.02987880e-02 -3.06863921e-04 9.98734168e-01 -5.89017179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-14.81, Z:-5.89 [[ 9.68199237e-01 2.45448194e-01 4.84295515e-02 9.31537237e+01] [-2.45166790e-01 9.69409587e-01 -1.17600334e-02 -1.48084854e+01] [-4.98345505e-02 -4.87262336e-04 9.98757368e-01 -5.89166607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:93.18, Y:-14.82, Z:-5.89 [[ 9.67915727e-01 2.46617057e-01 4.81577881e-02 9.31826094e+01] [-2.46340208e-01 9.69112858e-01 -1.16948786e-02 -1.48164965e+01] [-4.95544882e-02 -5.43542665e-04 9.98771274e-01 -5.89462102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:-14.82, Z:-5.90 [[ 9.67587604e-01 2.47700870e-01 4.91783326e-02 9.32127596e+01] [-2.47413575e-01 9.68836366e-01 -1.19423113e-02 -1.48242379e+01] [-5.06038779e-02 -6.12154708e-04 9.98718615e-01 -5.89564956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:-14.83, Z:-5.90 [[ 9.67322482e-01 2.48680269e-01 4.94503757e-02 9.32430614e+01] [-2.48390997e-01 9.68585402e-01 -1.20096636e-02 -1.48324035e+01] [-5.08834784e-02 -6.65810569e-04 9.98704375e-01 -5.89780517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-14.84, Z:-5.90 [[ 9.66872758e-01 2.50478016e-01 4.91714632e-02 9.32734540e+01] [-2.50194258e-01 9.68121993e-01 -1.19431849e-02 -1.48402239e+01] [-5.05954803e-02 -7.54877651e-04 9.98718943e-01 -5.89907037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:-14.85, Z:-5.90 [[ 9.66525521e-01 2.51695345e-01 4.97782183e-02 9.33032868e+01] [-2.51406073e-01 9.67806163e-01 -1.20920556e-02 -1.48473901e+01] [-5.12191805e-02 -8.27266050e-04 9.98687094e-01 -5.90070358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:-14.85, Z:-5.90 [[ 9.66230434e-01 2.52767580e-01 5.00729362e-02 9.33327512e+01] [-2.52476265e-01 9.67526620e-01 -1.21644816e-02 -1.48538895e+01] [-5.15216853e-02 -8.88535578e-04 9.98671481e-01 -5.90266169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.36, Y:-14.86, Z:-5.91 [[ 9.65918733e-01 2.54229274e-01 4.86670172e-02 9.33618468e+01] [-2.53955939e-01 9.67143523e-01 -1.18231357e-02 -1.48593868e+01] [-5.00737777e-02 -9.39089841e-04 9.98745080e-01 -5.90566775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.39, Y:-14.87, Z:-5.91 [[ 9.65921732e-01 2.54217850e-01 4.86671578e-02 9.33911046e+01] [-2.53944530e-01 9.67146526e-01 -1.18225572e-02 -1.48664544e+01] [-5.00737776e-02 -9.39093524e-04 9.98745080e-01 -5.90767617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:-14.87, Z:-5.91 [[ 9.65866740e-01 2.54481533e-01 4.83796403e-02 9.34202354e+01] [-2.54211784e-01 9.67077169e-01 -1.17523152e-02 -1.48715807e+01] [-4.97775928e-02 -9.47504327e-04 9.98759878e-01 -5.90917162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.45, Y:-14.88, Z:-5.91 [[ 9.65957491e-01 2.54289895e-01 4.75686335e-02 9.34483688e+01] [-2.54028923e-01 9.67127602e-01 -1.15545718e-02 -1.48765915e+01] [-4.89431493e-02 -9.22583513e-04 9.98801140e-01 -5.91136238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-14.88, Z:-5.91 [[ 9.66083298e-01 2.53667142e-01 4.83326137e-02 9.34767274e+01] [-2.53397060e-01 9.67291144e-01 -1.17376709e-02 -1.48817846e+01] [-4.97291706e-02 -9.07774403e-04 9.98762327e-01 -5.91396584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-14.89, Z:-5.92 [[ 9.66747702e-01 2.50958185e-01 4.91820049e-02 9.35065369e+01] [-2.50675183e-01 9.67997610e-01 -1.19406678e-02 -1.48862988e+01] [-5.06046715e-02 -7.85094912e-04 9.98718454e-01 -5.91629942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-14.89, Z:-5.92 [[ 9.67306069e-01 2.48809867e-01 4.91184149e-02 9.35361020e+01] [-2.48524828e-01 9.68552115e-01 -1.19252291e-02 -1.48915441e+01] [-5.05408593e-02 -6.71799125e-04 9.98721768e-01 -5.91843457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-14.89, Z:-5.92 [[ 9.68670567e-01 2.43467181e-01 4.90006630e-02 9.35654369e+01] [-2.43176658e-01 9.69909057e-01 -1.18968437e-02 -1.48942807e+01] [-5.04226779e-02 -3.91695112e-04 9.98727891e-01 -5.92112487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-14.90, Z:-5.92 [[ 9.69507127e-01 2.40223663e-01 4.84615503e-02 9.35953437e+01] [-2.39935489e-01 9.70717540e-01 -1.17651248e-02 -1.49001264e+01] [-4.98687382e-02 -2.21273380e-04 9.98755756e-01 -5.92368258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.62, Y:-14.91, Z:-5.93 [[ 9.70350535e-01 2.36867610e-01 4.80996303e-02 9.36248261e+01] [-2.36579603e-01 9.71541936e-01 -1.16772607e-02 -1.49070447e+01] [-4.94967727e-02 -4.83552912e-05 9.98774282e-01 -5.92689405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:-14.92, Z:-5.93 [[ 9.70873138e-01 2.33920065e-01 5.18339075e-02 9.36542787e+01] [-2.33945038e-01 9.72233288e-01 -5.67041969e-03 -1.49192905e+01] [-5.17210753e-02 -6.62102733e-03 9.98639621e-01 -5.93023610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:93.69, Y:-14.92, Z:-5.93 [[ 9.72298533e-01 2.28836688e-01 4.76375182e-02 9.36879295e+01] [-2.28196954e-01 9.73438573e-01 -1.85336057e-02 -1.49173193e+01] [-5.06133667e-02 7.14946105e-03 9.98692732e-01 -5.93192368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-14.93, Z:-5.93 [[ 9.72703944e-01 2.26615108e-01 4.99262455e-02 9.37185692e+01] [-2.26290867e-01 9.73984262e-01 -1.21284854e-02 -1.49271637e+01] [-5.13758754e-02 4.99572210e-04 9.98679263e-01 -5.93282872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.75, Y:-14.93, Z:-5.94 [[ 9.73052906e-01 2.24988317e-01 5.04806846e-02 9.37499130e+01] [-2.24654163e-01 9.74361276e-01 -1.22723684e-02 -1.49340982e+01] [-5.19475638e-02 6.00967832e-04 9.98649633e-01 -5.93545172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:-14.94, Z:-5.94 [[ 9.73610950e-01 2.22333920e-01 5.14718035e-02 9.37822531e+01] [-2.21982263e-01 9.74970276e-01 -1.25233860e-02 -1.49421443e+01] [-5.29678520e-02 7.67078277e-04 9.98595923e-01 -5.93702638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.81, Y:-14.95, Z:-5.94 [[ 9.73963075e-01 2.20990501e-01 5.05878063e-02 9.38135639e+01] [-2.20648416e-01 9.75275601e-01 -1.23198382e-02 -1.49493939e+01] [-5.20596204e-02 8.36948147e-04 9.98643628e-01 -5.94005727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.85, Y:-14.96, Z:-5.94 [[ 9.74242891e-01 2.20110526e-01 4.90116997e-02 9.38460676e+01] [-2.20013896e-01 9.75468481e-01 -7.42488141e-03 -1.49603843e+01] [-4.94436628e-02 -3.54961709e-03 9.98770607e-01 -5.93980872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:-14.96, Z:-5.94 [[ 9.74474516e-01 2.19091175e-01 4.89742245e-02 9.38760743e+01] [-2.18529161e-01 9.75688949e-01 -1.66156679e-02 -1.49628874e+01] [-5.14239558e-02 5.48924878e-03 9.98661827e-01 -5.94472596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:-14.97, Z:-5.95 [[ 9.74471327e-01 2.18714836e-01 5.06897732e-02 9.39057827e+01] [-2.18367203e-01 9.75788327e-01 -1.23655267e-02 -1.49737655e+01] [-5.21670131e-02 9.80867206e-04 9.98637893e-01 -5.94738633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:-14.98, Z:-5.95 [[ 9.74355495e-01 2.19141157e-01 5.10736937e-02 9.39372574e+01] [-2.18788522e-01 9.75692682e-01 -1.24648238e-02 -1.49819775e+01] [-5.25637851e-02 9.70831562e-04 9.98617097e-01 -5.94895294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.97, Y:-14.99, Z:-5.95 [[ 9.74073047e-01 2.20116965e-01 5.22515207e-02 9.39684338e+01] [-2.19748672e-01 9.75473023e-01 -1.27633265e-02 -1.49913954e+01] [-5.37793736e-02 9.50210093e-04 9.98552390e-01 -5.95271799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:94.00, Y:-15.01, Z:-5.95 [[ 9.73943774e-01 2.20772374e-01 5.18949223e-02 9.39996028e+01] [-2.21065826e-01 9.75258885e-01 -8.73759343e-05 -1.50087605e+01] [-5.06302742e-02 -1.13870946e-02 9.98652547e-01 -5.94823594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81264 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:94.03, Y:-15.01, Z:-5.95 [[ 9.73739049e-01 2.22685445e-01 4.73651511e-02 9.40319003e+01] [-2.22077250e-01 9.74866509e-01 -1.78040560e-02 -1.50065653e+01] [-5.01394036e-02 6.81778205e-03 9.98718958e-01 -5.95436497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:-15.01, Z:-5.96 [[ 9.73386272e-01 2.24026259e-01 4.82845844e-02 9.40611291e+01] [-2.23374508e-01 9.74555874e-01 -1.85655066e-02 -1.50139837e+01] [-5.12151863e-02 7.28586399e-03 9.98661064e-01 -5.95875955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:-15.03, Z:-5.96 [[ 9.73157717e-01 2.24746060e-01 4.95304516e-02 9.40918185e+01] [-2.24987111e-01 9.74361469e-01 -7.25969187e-04 -1.50337664e+01] [-4.84237223e-02 -1.04372307e-02 9.98772350e-01 -5.95613598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:94.12, Y:-15.04, Z:-5.96 [[ 9.72895672e-01 2.26384729e-01 4.71589542e-02 9.41231480e+01] [-2.26081550e-01 9.74037670e-01 -1.17367428e-02 -1.50364864e+01] [-4.85916171e-02 7.56856810e-04 9.98818443e-01 -5.95921880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93264 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:94.15, Y:-15.05, Z:-5.96 [[ 9.72658118e-01 2.27151911e-01 4.83548878e-02 9.41549405e+01] [-2.26892693e-01 9.73859251e-01 -1.08566031e-02 -1.50459278e+01] [-4.95569530e-02 -4.11607573e-04 9.98771215e-01 -5.96062440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.19, Y:-15.05, Z:-5.97 [[ 9.72289510e-01 2.28422641e-01 4.97614906e-02 9.41857467e+01] [-2.27410520e-01 9.73472682e-01 -2.52069926e-02 -1.50456015e+01] [-5.41992995e-02 1.31922081e-02 9.98442989e-01 -5.97093043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:-15.07, Z:-5.96 [[ 9.72368234e-01 2.27601919e-01 5.19363494e-02 9.42153648e+01] [-2.27929778e-01 9.73677491e-01 4.00690812e-04 -1.50705846e+01] [-5.04780563e-02 -1.22274596e-02 9.98650317e-01 -5.96350105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:94.25, Y:-15.07, Z:-5.97 [[ 9.72301870e-01 2.28715086e-01 4.81506201e-02 9.42469410e+01] [-2.28424747e-01 9.73493383e-01 -1.15224744e-02 -1.50741528e+01] [-4.95096738e-02 2.04530226e-04 9.98773623e-01 -5.96733637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.28, Y:-15.08, Z:-5.98 [[ 9.72132718e-01 2.29474309e-01 4.79533145e-02 9.42770200e+01] [-2.28472648e-01 9.73216513e-01 -2.54925031e-02 -1.50761021e+01] [-5.25188321e-02 1.38260755e-02 9.98524217e-01 -5.97837810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264000000001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:94.31, Y:-15.10, Z:-5.98 [[ 9.72250910e-01 2.28147739e-01 5.17375773e-02 9.43059824e+01] [-2.27793767e-01 9.73626352e-01 -1.27171356e-02 -1.50966200e+01] [-5.32744545e-02 5.78749050e-04 9.98579740e-01 -5.98222819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:-15.11, Z:-5.97 [[ 9.72585577e-01 2.26957819e-01 5.06699491e-02 9.43377553e+01] [-2.27204663e-01 9.73846606e-01 -9.10272939e-04 -1.51138286e+01] [-4.95513516e-02 -1.06271304e-02 9.98715038e-01 -5.97355650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:-15.12, Z:-5.98 [[ 9.72671090e-01 2.27189413e-01 4.79157797e-02 9.43685645e+01] [-2.26909553e-01 9.73850585e-01 -1.12735413e-02 -1.51182245e+01] [-4.92240393e-02 9.28995396e-05 9.98787758e-01 -5.97524208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17264 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:94.40, Y:-15.12, Z:-5.99 [[ 9.72353651e-01 2.28200262e-01 4.95279380e-02 9.43990142e+01] [-2.27176719e-01 9.73520412e-01 -2.54704942e-02 -1.51222420e+01] [-5.40288321e-02 1.35147336e-02 9.98447914e-01 -5.98914389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.43, Y:-15.15, Z:-5.98 [[ 9.72541731e-01 2.26893099e-01 5.17890261e-02 9.44264000e+01] [-2.27296432e-01 9.73823648e-01 1.95795364e-03 -1.51472272e+01] [-4.99891321e-02 -1.36756525e-02 9.98656129e-01 -5.97936895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:-15.14, Z:-5.99 [[ 9.71960269e-01 2.30193384e-01 4.80025235e-02 9.44585606e+01] [-2.29122027e-01 9.73028300e-01 -2.68146268e-02 -1.51409337e+01] [-5.28803635e-02 1.50643164e-02 9.98487223e-01 -5.99012111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-15.17, Z:-5.98 [[ 9.71258946e-01 2.32289749e-01 5.19377818e-02 9.44878307e+01] [-2.32533850e-01 9.72587330e-01 -1.37635102e-03 -1.51677390e+01] [-5.08337408e-02 -1.07404991e-02 9.98649374e-01 -5.98292633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-15.17, Z:-5.99 [[ 9.70401945e-01 2.36214664e-01 5.02264695e-02 9.45205666e+01] [-2.35896679e-01 9.71700896e-01 -1.22525863e-02 -1.51707162e+01] [-5.16993460e-02 4.16762242e-05 9.98662694e-01 -5.98516417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:-15.18, Z:-5.99 [[ 9.69557071e-01 2.39466750e-01 5.11347472e-02 9.45515577e+01] [-2.39196884e-01 9.70903879e-01 -1.14240573e-02 -1.51795995e+01] [-5.23826063e-02 -1.15499661e-03 9.98626421e-01 -5.98799076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.58, Y:-15.19, Z:-5.99 [[ 9.67948964e-01 2.45928211e-01 5.09324934e-02 9.45821666e+01] [-2.45689234e-01 9.69286247e-01 -1.09987396e-02 -1.51887072e+01] [-5.20730657e-02 -1.86734670e-03 9.98641532e-01 -5.99233372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:-15.19, Z:-6.00 [[ 9.66923854e-01 2.50140433e-01 4.98800915e-02 9.46136813e+01] [-2.49063286e-01 9.68114862e-01 -2.68531699e-02 -1.51873611e+01] [-5.50067214e-02 1.35416710e-02 9.98394153e-01 -6.00202619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.64, Y:-15.20, Z:-6.01 [[ 9.66266253e-01 2.51918977e-01 5.35383770e-02 9.46422629e+01] [-2.51572261e-01 9.67748087e-01 -1.32301785e-02 -1.52026643e+01] [-5.51445949e-02 -6.84895534e-04 9.98478144e-01 -6.00500874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:-15.22, Z:-6.00 [[ 9.65726913e-01 2.54390756e-01 5.15448552e-02 9.46739458e+01] [-2.54718221e-01 9.67015294e-01 -2.23311764e-04 -1.52172528e+01] [-4.99014717e-02 -1.29137556e-02 9.98670655e-01 -5.99837716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.22, Z:-6.00 [[ 9.65333536e-01 2.56772460e-01 4.68942238e-02 9.47062726e+01] [-2.56417455e-01 9.66471321e-01 -1.35379155e-02 -1.52168480e+01] [-4.87980863e-02 1.04410634e-03 9.98808118e-01 -6.00206315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:-15.22, Z:-6.01 [[ 9.64831086e-01 2.58496894e-01 4.77528213e-02 9.47355315e+01] [-2.57620962e-01 9.65953537e-01 -2.37740268e-02 -1.52169272e+01] [-5.22725187e-02 1.06357924e-02 9.98576218e-01 -6.01129918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.24, Z:-6.00 [[ 9.65188839e-01 2.56537145e-01 5.09823417e-02 9.47659780e+01] [-2.56880711e-01 9.66443099e-01 1.93046253e-04 -1.52374168e+01] [-4.92220088e-02 -1.32827063e-02 9.98699536e-01 -6.00469029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:-15.23, Z:-6.02 [[ 9.65007559e-01 2.57685693e-01 4.85643293e-02 9.47979612e+01] [-2.56731951e-01 9.66157831e-01 -2.50549384e-02 -1.52307431e+01] [-5.33771062e-02 1.17101899e-02 9.98505762e-01 -6.01555916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.25, Z:-6.01 [[ 9.65549601e-01 2.54816415e-01 5.27500077e-02 9.48277631e+01] [-2.55310360e-01 9.66855287e-01 2.73399284e-03 -1.52542157e+01] [-5.03049575e-02 -1.61074292e-02 9.98604007e-01 -6.00783891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.86, Y:-15.24, Z:-6.02 [[ 9.65500248e-01 2.55676606e-01 4.93836417e-02 9.48612448e+01] [-2.54537123e-01 9.66650744e-01 -2.82345734e-02 -1.52432575e+01] [-5.49556539e-02 1.46905175e-02 9.98380721e-01 -6.02279851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:-15.26, Z:-6.02 [[ 9.66590775e-01 2.50879057e-01 5.25544699e-02 9.48908940e+01] [-2.50540043e-01 9.68018281e-01 -1.30496699e-02 -1.52571548e+01] [-5.41475765e-02 -5.53308596e-04 9.98532791e-01 -6.02172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:-15.27, Z:-6.02 [[ 9.67382899e-01 2.47708918e-01 5.30152652e-02 9.49229085e+01] [-2.48053387e-01 9.68746360e-01 -8.50251397e-05 -1.52720675e+01] [-5.13794066e-02 -1.30683642e-02 9.98593698e-01 -6.01573422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:94.96, Y:-15.27, Z:-6.03 [[ 9.67567088e-01 2.47380952e-01 5.11526587e-02 9.49551272e+01] [-2.46329972e-01 9.68836688e-01 -2.60195306e-02 -1.52655751e+01] [-5.59953087e-02 1.25752085e-02 9.98351837e-01 -6.03053656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:-15.28, Z:-6.03 [[ 9.68100630e-01 2.44801779e-01 5.34159084e-02 9.49854525e+01] [-2.44440893e-01 9.69573129e-01 -1.32890052e-02 -1.52811914e+01] [-5.50438015e-02 -1.91938042e-04 9.98483922e-01 -6.02794955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.02, Y:-15.29, Z:-6.03 [[ 9.68988943e-01 2.41145924e-01 5.39358213e-02 9.50160147e+01] [-2.40771665e-01 9.70488868e-01 -1.34299138e-02 -1.52890960e+01] [-5.55826831e-02 2.72204807e-05 9.98454087e-01 -6.03351135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-15.30, Z:-6.03 [[ 9.69634007e-01 2.38802699e-01 5.27556998e-02 9.50479750e+01] [-2.38972064e-01 9.71021279e-01 -3.16671848e-03 -1.53025283e+01] [-5.19831280e-02 -9.53658055e-03 9.98602427e-01 -6.02534470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:-15.30, Z:-6.03 [[ 9.69644016e-01 2.39203325e-01 5.07173758e-02 9.50790268e+01] [-2.38323513e-01 9.70917518e-01 -2.28270938e-02 -1.52977004e+01] [-5.47027053e-02 1.00470117e-02 9.98452138e-01 -6.03481181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264000000001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:95.11, Y:-15.31, Z:-6.04 [[ 9.69643037e-01 2.38492753e-01 5.39776598e-02 9.51095445e+01] [-2.38112530e-01 9.71144256e-01 -1.34631618e-02 -1.53110125e+01] [-5.56309608e-02 2.01703955e-04 9.98451379e-01 -6.03929897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:95.14, Y:-15.32, Z:-6.04 [[ 9.69555003e-01 2.38905938e-01 5.37312631e-02 9.51414867e+01] [-2.38529197e-01 9.71042696e-01 -1.34128521e-02 -1.53181776e+01] [-5.53797605e-02 1.88022818e-04 9.98465346e-01 -6.04099483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:-15.32, Z:-6.04 [[ 9.69275223e-01 2.40496318e-01 5.16436172e-02 9.51741556e+01] [-2.40150019e-01 9.70650045e-01 -1.29018652e-02 -1.53244422e+01] [-5.32307304e-02 1.03242632e-04 9.98582234e-01 -6.03993912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.20, Y:-15.33, Z:-6.04 [[ 9.69050192e-01 2.41306714e-01 5.20845043e-02 9.52048140e+01] [-2.40955034e-01 9.70448899e-01 -1.30233251e-02 -1.53317460e+01] [-5.36879656e-02 7.02321913e-05 9.98557759e-01 -6.04480106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.24, Y:-15.34, Z:-6.05 [[ 9.68714035e-01 2.42633146e-01 5.21754260e-02 9.52368026e+01] [-2.42281610e-01 9.70118115e-01 -1.30562271e-02 -1.53391181e+01] [-5.37841993e-02 6.60422306e-06 9.98552582e-01 -6.04712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:95.27, Y:-15.34, Z:-6.05 [[ 9.68196613e-01 2.44842366e-01 5.14542057e-02 9.52684909e+01] [-2.44503032e-01 9.69562894e-01 -1.28865083e-02 -1.53430670e+01] [-5.30432517e-02 -1.04035654e-04 9.98592210e-01 -6.04930290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:95.30, Y:-15.36, Z:-6.04 [[ 9.68194326e-01 2.44457493e-01 5.32942862e-02 9.52996427e+01] [-2.44877642e-01 9.69552978e-01 1.40077915e-03 -1.53581832e+01] [-5.13292029e-02 -1.44068056e-02 9.98577867e-01 -6.04342160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:-15.35, Z:-6.05 [[ 9.67883947e-01 2.46785007e-01 4.79356403e-02 9.53316004e+01] [-2.45725134e-01 9.68964474e-01 -2.69630610e-02 -1.53485277e+01] [-5.31020117e-02 1.43181222e-02 9.98486438e-01 -6.05094371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:-15.36, Z:-6.05 [[ 9.67917974e-01 2.45938680e-01 5.14680655e-02 9.53612336e+01] [-2.45599560e-01 9.69285379e-01 -1.29116649e-02 -1.53645533e+01] [-5.30627212e-02 -1.43101744e-04 9.98591171e-01 -6.05242374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:-15.38, Z:-6.05 [[ 9.68246653e-01 2.44278043e-01 5.31663015e-02 9.53927284e+01] [-2.44541025e-01 9.69637624e-01 -1.60163140e-03 -1.53792857e+01] [-5.19432896e-02 -1.14505676e-02 9.98584388e-01 -6.04934638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:95.42, Y:-15.37, Z:-6.06 [[ 9.68559719e-01 2.43909174e-01 4.89937290e-02 9.54239955e+01] [-2.42975889e-01 9.69728674e-01 -2.42696700e-02 -1.53729780e+01] [-5.34302190e-02 1.16023299e-02 9.98504180e-01 -6.06007036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.45, Y:-15.39, Z:-6.06 [[ 9.68902364e-01 2.41872302e-01 5.22110916e-02 9.54540005e+01] [-2.41516668e-01 9.70308085e-01 -1.31117686e-02 -1.53869838e+01] [-5.38322180e-02 9.41746914e-05 9.98549990e-01 -6.06043362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:-15.40, Z:-6.06 [[ 9.69160678e-01 2.40769919e-01 5.25112098e-02 9.54857343e+01] [-2.40408008e-01 9.70582206e-01 -1.31973937e-02 -1.53951631e+01] [-5.41439812e-02 1.66279706e-04 9.98533125e-01 -6.06003632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.52, Y:-15.40, Z:-6.06 [[ 9.69864314e-01 2.37915010e-01 5.25324634e-02 9.55174231e+01] [-2.37548022e-01 9.71285918e-01 -1.32137182e-02 -1.54035626e+01] [-5.41677839e-02 3.36530988e-04 9.98531791e-01 -6.06434965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:-15.41, Z:-6.06 [[ 9.70121151e-01 2.37036158e-01 5.17572430e-02 9.55485890e+01] [-2.36678097e-01 9.71500750e-01 -1.30296325e-02 -1.54117934e+01] [-5.33706945e-02 3.90516297e-04 9.98574692e-01 -6.06381380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-15.42, Z:-6.07 [[ 9.70309649e-01 2.36331297e-01 5.14461160e-02 9.55796493e+01] [-2.35976005e-01 9.71672438e-01 -1.29613926e-02 -1.54203282e+01] [-5.30519557e-02 4.36515401e-04 9.98591658e-01 -6.06589912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:95.61, Y:-15.43, Z:-6.07 [[ 9.70348926e-01 2.35970729e-01 5.23524235e-02 9.56112047e+01] [-2.35601725e-01 9.71760048e-01 -1.31998744e-02 -1.54294803e+01] [-5.39887775e-02 4.74162650e-04 9.98541430e-01 -6.07075979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:95.64, Y:-15.44, Z:-6.07 [[ 9.70198680e-01 2.36595438e-01 5.23174996e-02 9.56421963e+01] [-2.36227252e-01 9.71608150e-01 -1.32018405e-02 -1.54380403e+01] [-5.39556043e-02 4.49589032e-04 9.98543234e-01 -6.07204680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.67, Y:-15.45, Z:-6.07 [[ 9.69774230e-01 2.38252813e-01 5.26643996e-02 9.56745483e+01] [-2.37881631e-01 9.71203100e-01 -1.32992242e-02 -1.54464892e+01] [-5.43164057e-02 3.69351632e-04 9.98523706e-01 -6.07347084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-15.46, Z:-6.07 [[ 9.69429045e-01 2.39699158e-01 5.24560841e-02 9.57053445e+01] [-2.39332379e-01 9.70847168e-01 -1.32585094e-02 -1.54560153e+01] [-5.41048942e-02 2.98744699e-04 9.98535213e-01 -6.07266862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.74, Y:-15.46, Z:-6.08 [[ 9.69228693e-01 2.40531767e-01 5.23470069e-02 9.57358790e+01] [-2.40167351e-01 9.70641233e-01 -1.32378615e-02 -1.54645950e+01] [-5.39942895e-02 2.58473187e-04 9.98541211e-01 -6.07827987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:95.77, Y:-15.47, Z:-6.08 [[ 9.68612467e-01 2.43107291e-01 5.18530087e-02 9.57673069e+01] [-2.42753122e-01 9.69999397e-01 -1.31183415e-02 -1.54736321e+01] [-5.34865516e-02 1.19109336e-04 9.98568563e-01 -6.08083957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:95.80, Y:-15.48, Z:-6.08 [[ 9.68223826e-01 2.44562050e-01 5.22687983e-02 9.57977165e+01] [-2.44203690e-01 9.69633643e-01 -1.32346711e-02 -1.54817407e+01] [-5.39182836e-02 4.98904357e-05 9.98545350e-01 -6.08300563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:-15.49, Z:-6.08 [[ 9.67711034e-01 2.46634517e-01 5.20266320e-02 9.58292711e+01] [-2.46281878e-01 9.69108566e-01 -1.31842505e-02 -1.54920231e+01] [-5.36711459e-02 -5.46719836e-05 9.98558664e-01 -6.08185796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:95.86, Y:-15.50, Z:-6.09 [[ 9.67468359e-01 2.47414330e-01 5.28310900e-02 9.58597627e+01] [-2.47051236e-01 9.68909770e-01 -1.33994547e-02 -1.55008259e+01] [-5.45037763e-02 -8.84376401e-05 9.98513561e-01 -6.08723733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-15.51, Z:-6.09 [[ 9.66676054e-01 2.50756148e-01 5.15631757e-02 9.58910585e+01] [-2.50414530e-01 9.68050250e-01 -1.30872823e-02 -1.55111809e+01] [-5.31974616e-02 -2.61006018e-04 9.98583978e-01 -6.08567821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-15.52, Z:-6.09 [[ 9.66240059e-01 2.52459720e-01 5.14221616e-02 9.59215925e+01] [-2.52121792e-01 9.67607344e-01 -1.30625510e-02 -1.55193191e+01] [-5.30542292e-02 -3.43087504e-04 9.98591574e-01 -6.08774402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-15.53, Z:-6.09 [[ 9.65721108e-01 2.54444727e-01 5.13869799e-02 9.59536167e+01] [-2.54109538e-01 9.67087217e-01 -1.30635810e-02 -1.55281485e+01] [-5.30196507e-02 -4.42145769e-04 9.98593371e-01 -6.08989501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:-15.54, Z:-6.09 [[ 9.64716149e-01 2.58243230e-01 5.13145748e-02 9.59834121e+01] [-2.57913756e-01 9.66079720e-01 -1.30563638e-02 -1.55354994e+01] [-5.29456877e-02 -6.39049704e-04 9.98597189e-01 -6.09209245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-15.54, Z:-6.09 [[ 9.64237996e-01 2.60168685e-01 5.05701799e-02 9.60133604e+01] [-2.59850794e-01 9.65562909e-01 -1.28776228e-02 -1.55423810e+01] [-5.21790442e-02 -7.23608143e-04 9.98637484e-01 -6.09417033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-15.55, Z:-6.10 [[ 9.63436416e-01 2.62997487e-01 5.12112613e-02 9.60431342e+01] [-2.62675469e-01 9.64796110e-01 -1.30408733e-02 -1.55491234e+01] [-5.28381426e-02 -8.87889851e-04 9.98602695e-01 -6.09662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.07, Y:-15.56, Z:-6.10 [[ 9.63285753e-01 2.63452814e-01 5.17027329e-02 9.60721321e+01] [-2.63125237e-01 9.64671843e-01 -1.31660258e-02 -1.55558804e+01] [-5.33447973e-02 -9.21648727e-04 9.98575727e-01 -6.10168088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-15.56, Z:-6.10 [[ 9.62990292e-01 2.64624441e-01 5.12211108e-02 9.61014085e+01] [-2.64304638e-01 9.64351050e-01 -1.30426193e-02 -1.55631434e+01] [-5.28465278e-02 -9.78061402e-04 9.98602167e-01 -6.10045603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-15.57, Z:-6.10 [[ 9.62837107e-01 2.65244005e-01 5.08952234e-02 9.61317240e+01] [-2.64928928e-01 9.64180799e-01 -1.29633965e-02 -1.55694730e+01] [-5.25106604e-02 -1.00197776e-03 9.98619861e-01 -6.10207546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-15.58, Z:-6.10 [[ 9.62772746e-01 2.65574938e-01 5.03844351e-02 9.61621306e+01] [-2.65266609e-01 9.64089691e-01 -1.28332949e-02 -1.55750427e+01] [-5.19833159e-02 -1.00976167e-03 9.98647443e-01 -6.10415987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.19, Y:-15.58, Z:-6.11 [[ 9.62868940e-01 2.65219177e-01 5.04201633e-02 9.61905051e+01] [-2.64909934e-01 9.64187640e-01 -1.28421967e-02 -1.55813408e+01] [-5.20204951e-02 -9.91449789e-04 9.98645525e-01 -6.10788295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:96.22, Y:-15.59, Z:-6.11 [[ 9.63034133e-01 2.64586835e-01 5.05871995e-02 9.62191285e+01] [-2.64274599e-01 9.64361388e-01 -1.28860161e-02 -1.55869934e+01] [-5.21938122e-02 -9.59238497e-04 9.98636513e-01 -6.11213636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.25, Y:-15.59, Z:-6.11 [[ 9.63279619e-01 2.63755612e-01 5.02528861e-02 9.62482158e+01] [-2.63446428e-01 9.64589109e-01 -1.27995943e-02 -1.55913414e+01] [-5.18493515e-02 -9.09354972e-04 9.98654504e-01 -6.11468627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:-15.61, Z:-6.11 [[ 9.63485050e-01 2.62221574e-01 5.41886104e-02 9.62767807e+01] [-2.62619736e-01 9.64899383e-01 2.35378510e-04 -1.56050923e+01] [-5.22248354e-02 -1.44577823e-02 9.98530690e-01 -6.11052674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-15.60, Z:-6.12 [[ 9.63515964e-01 2.63593408e-01 4.64273802e-02 9.63082241e+01] [-2.62626600e-01 9.64549072e-01 -2.59298555e-02 -1.55962269e+01] [-5.16164255e-02 1.27907647e-02 9.98585069e-01 -6.11540683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.61, Z:-6.12 [[ 9.63831625e-01 2.61661812e-01 5.06131906e-02 9.63358183e+01] [-2.61345471e-01 9.65159286e-01 -1.28878949e-02 -1.56066275e+01] [-5.22220608e-02 -8.05767467e-04 9.98635172e-01 -6.11575401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:96.36, Y:-15.61, Z:-6.12 [[ 9.64075433e-01 2.60809437e-01 5.03686064e-02 9.63646305e+01] [-2.60495052e-01 9.65390006e-01 -1.28243236e-02 -1.56113013e+01] [-5.19700539e-02 -7.57157415e-04 9.98648357e-01 -6.12057798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:-15.63, Z:-6.11 [[ 9.64437758e-01 2.59449570e-01 5.04552490e-02 9.63910922e+01] [-2.60061374e-01 9.65574369e-01 5.84979637e-03 -1.56266714e+01] [-4.72005680e-02 -1.87632259e-02 9.98709191e-01 -6.11008106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.42, Y:-15.61, Z:-6.12 [[ 9.64465353e-01 2.60504292e-01 4.40919044e-02 9.64244303e+01] [-2.59372745e-01 9.65317803e-01 -2.97878807e-02 -1.56114909e+01] [-5.03225711e-02 1.72931406e-02 9.98583290e-01 -6.12474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:-15.63, Z:-6.12 [[ 9.64640235e-01 2.58417906e-01 5.18594583e-02 9.64485874e+01] [-2.58737115e-01 9.65947603e-01 -5.77062973e-04 -1.56330184e+01] [-5.02426428e-02 -1.28613084e-02 9.98654226e-01 -6.12012043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:-15.62, Z:-6.13 [[ 9.65249945e-01 2.57204490e-01 4.62427801e-02 9.64814525e+01] [-2.56315998e-01 9.66287166e-01 -2.43150498e-02 -1.56230526e+01] [-5.09377449e-02 1.16173362e-02 9.98634259e-01 -6.12548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.51, Y:-15.64, Z:-6.13 [[ 9.65944782e-01 2.54044971e-01 4.91104013e-02 9.65075767e+01] [-2.53737192e-01 9.67192333e-01 -1.25071482e-02 -1.56354794e+01] [-5.06765817e-02 -3.79920804e-04 9.98715044e-01 -6.12979414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:-15.64, Z:-6.13 [[ 9.66499140e-01 2.51976583e-01 4.88591348e-02 9.65352396e+01] [-2.51669427e-01 9.67733294e-01 -1.24407253e-02 -1.56425901e+01] [-5.04173829e-02 -2.72400205e-04 9.98728198e-01 -6.12910707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.56, Y:-15.65, Z:-6.13 [[ 9.67229025e-01 2.49168952e-01 4.88144002e-02 9.65628822e+01] [-2.48858907e-01 9.68460023e-01 -1.24268871e-02 -1.56492631e+01] [-5.03711896e-02 -1.28252373e-04 9.98730558e-01 -6.13193257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:-15.66, Z:-6.13 [[ 9.68597555e-01 2.43827585e-01 4.86506392e-02 9.65897860e+01] [-2.43513011e-01 9.69818585e-01 -1.23825120e-02 -1.56580593e+01] [-5.02014921e-02 1.46607213e-04 9.98739099e-01 -6.13240026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:-15.67, Z:-6.13 [[ 9.69275638e-01 2.41313353e-01 4.76718361e-02 9.66192635e+01] [-2.41008394e-01 9.70447213e-01 -1.21309807e-02 -1.56668373e+01] [-4.91903681e-02 2.68951437e-04 9.98789385e-01 -6.13373947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:-15.68, Z:-6.13 [[ 9.69777751e-01 2.37783526e-01 5.46818892e-02 9.66462745e+01] [-2.38347648e-01 9.71171899e-01 3.94221375e-03 -1.56844327e+01] [-5.21681207e-02 -1.68563709e-02 9.98496044e-01 -6.13363754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.68, Y:-15.67, Z:-6.14 [[ 9.70309108e-01 2.37832058e-01 4.40016633e-02 9.66811715e+01] [-2.36717836e-01 9.71143190e-01 -2.90787101e-02 -1.56737702e+01] [-4.96477652e-02 1.77993587e-02 9.98608173e-01 -6.13995972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:-15.69, Z:-6.14 [[ 9.70893904e-01 2.34369823e-01 4.93539542e-02 9.67071819e+01] [-2.34033539e-01 9.72147294e-01 -1.25674345e-02 -1.56940594e+01] [-5.09247405e-02 6.51165000e-04 9.98702281e-01 -6.13912288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.74, Y:-15.70, Z:-6.14 [[ 9.71086191e-01 2.33482223e-01 4.97761057e-02 9.67375975e+01] [-2.33139085e-01 9.72360817e-01 -1.26731424e-02 -1.57046500e+01] [-5.13592883e-02 7.01957842e-04 9.98679994e-01 -6.14327934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:-15.72, Z:-6.14 [[ 9.71155382e-01 2.33223345e-01 4.96396508e-02 9.67691866e+01] [-2.32881311e-01 9.72422928e-01 -1.26469321e-02 -1.57165099e+01] [-5.12202944e-02 7.21989251e-04 9.98687118e-01 -6.14261472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.80, Y:-15.73, Z:-6.15 [[ 9.71171125e-01 2.34184087e-01 4.45472775e-02 9.67985563e+01] [-2.33909302e-01 9.72192080e-01 -1.13577069e-02 -1.57301480e+01] [-4.59683046e-02 6.10254429e-04 9.98942712e-01 -6.14688397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.83, Y:-15.74, Z:-6.15 [[ 9.70974238e-01 2.35301218e-01 4.29227786e-02 9.68286143e+01] [-2.35046810e-01 9.71922342e-01 -1.09525388e-02 -1.57406743e+01] [-4.42947532e-02 5.45770852e-04 9.99018357e-01 -6.15022209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-15.75, Z:-6.15 [[ 9.69758246e-01 2.40226701e-01 4.31285951e-02 9.68567589e+01] [-2.39974166e-01 9.70716756e-01 -1.10172217e-02 -1.57520751e+01] [-4.45122808e-02 3.34292977e-04 9.99008781e-01 -6.14952945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:96.89, Y:-15.76, Z:-6.15 [[ 9.69102944e-01 2.42875816e-01 4.30211755e-02 9.68867901e+01] [-2.42627097e-01 9.70057366e-01 -1.09908622e-02 -1.57608006e+01] [-4.44024228e-02 2.13174011e-04 9.99013703e-01 -6.15307244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:-15.78, Z:-6.14 [[ 9.68390139e-01 2.45011309e-01 4.67974087e-02 9.69135017e+01] [-2.45753313e-01 9.69272989e-01 1.07322580e-02 -1.57825876e+01] [-4.27299397e-02 -2.18936310e-02 9.98846746e-01 -6.14253496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69264000000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:96.95, Y:-15.77, Z:-6.16 [[ 9.66301535e-01 2.54507835e-01 3.85629965e-02 9.69477324e+01] [-2.53353728e-01 9.66830602e-01 -3.24110498e-02 -1.57728216e+01] [-4.55327513e-02 2.15487682e-02 9.98730404e-01 -6.15639318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:-15.79, Z:-6.15 [[ 9.65309402e-01 2.57082672e-01 4.56755679e-02 9.69745758e+01] [-2.56817482e-01 9.66389308e-01 -1.16827471e-02 -1.57940107e+01] [-4.71438123e-02 -4.52818715e-04 9.98888010e-01 -6.15349770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-15.80, Z:-6.15 [[ 9.64134773e-01 2.61267221e-01 4.67287780e-02 9.70036413e+01] [-2.60994487e-01 9.65266279e-01 -1.19536301e-02 -1.58014811e+01] [-4.82288054e-02 -6.71042976e-04 9.98836089e-01 -6.15464849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.81, Z:-6.16 [[ 9.63032418e-01 2.65185118e-01 4.73858039e-02 9.70326614e+01] [-2.64909327e-01 9.64197118e-01 -1.21229745e-02 -1.58086997e+01] [-4.89040880e-02 -8.78123990e-04 9.98803093e-01 -6.15621742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.06, Y:-15.82, Z:-6.16 [[ 9.61368323e-01 2.71062228e-01 4.79188552e-02 9.70612107e+01] [-2.70787535e-01 9.62561089e-01 -1.22581214e-02 -1.58176302e+01] [-4.94475391e-02 -1.19125901e-03 9.98776012e-01 -6.15991355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:-15.84, Z:-6.15 [[ 9.60491566e-01 2.73739865e-01 5.02238712e-02 9.70881577e+01] [-2.74432992e-01 9.61578269e-01 7.33253521e-03 -1.58360277e+01] [-4.62869759e-02 -2.08259255e-02 9.98711068e-01 -6.15108427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:-15.83, Z:-6.16 [[ 9.60115216e-01 2.75812468e-01 4.58939437e-02 9.71198871e+01] [-2.75499619e-01 9.61211466e-01 -1.31331090e-02 -1.58324201e+01] [-4.77360601e-02 -3.44662212e-05 9.98859984e-01 -6.15562002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:-15.83, Z:-6.17 [[ 9.60122686e-01 2.76242945e-01 4.30611487e-02 9.71508722e+01] [-2.75123471e-01 9.60935290e-01 -3.01735621e-02 -1.58305791e+01] [-4.97142111e-02 1.71231888e-02 9.98616690e-01 -6.16537386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:97.18, Y:-15.85, Z:-6.17 [[ 9.60730396e-01 2.73356186e-01 4.76812578e-02 9.71767599e+01] [-2.73087314e-01 9.61911994e-01 -1.21916153e-02 -1.58487490e+01] [-4.91978272e-02 -1.30829126e-03 9.98788197e-01 -6.16769927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-15.86, Z:-6.17 [[ 9.61663720e-01 2.70131638e-01 4.72418087e-02 9.72053380e+01] [-2.69863862e-01 9.62822732e-01 -1.20782130e-02 -1.58551961e+01] [-4.87481948e-02 -1.13367766e-03 9.98810457e-01 -6.16811242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:-15.86, Z:-6.17 [[ 9.61666859e-01 2.70120508e-01 4.72415446e-02 9.72345109e+01] [-2.69852668e-01 9.62825856e-01 -1.20792461e-02 -1.58626141e+01] [-4.87482327e-02 -1.13204622e-03 9.98810457e-01 -6.17009449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:-15.87, Z:-6.17 [[ 9.63234664e-01 2.64783556e-01 4.54824281e-02 9.72657597e+01] [-2.64529563e-01 9.64307510e-01 -1.16248571e-02 -1.58724777e+01] [-4.69371180e-02 -8.33981544e-04 9.98897498e-01 -6.17370711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:-15.88, Z:-6.18 [[ 9.64667173e-01 2.59577358e-01 4.51313762e-02 9.72960020e+01] [-2.59321120e-01 9.65722152e-01 -1.15448269e-02 -1.58837265e+01] [-4.65811454e-02 -5.66603513e-04 9.98914349e-01 -6.17607384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:-15.89, Z:-6.18 [[ 9.65610823e-01 2.56060487e-01 4.50418290e-02 9.73274143e+01] [-2.55801035e-01 9.66660683e-01 -1.15305430e-02 -1.58941274e+01] [-4.64926817e-02 -3.87729363e-04 9.98918555e-01 -6.17732555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.36, Y:-15.90, Z:-6.18 [[ 9.65838556e-01 2.55196302e-01 4.50636337e-02 9.73591573e+01] [-2.54935219e-01 9.66889204e-01 -1.15455765e-02 -1.59026462e+01] [-4.65179294e-02 -3.37144387e-04 9.98917398e-01 -6.18102761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.39, Y:-15.91, Z:-6.18 [[ 9.65803776e-01 2.55328345e-01 4.50610927e-02 9.73914990e+01] [-2.55066943e-01 9.66854345e-01 -1.15554841e-02 -1.59111033e+01] [-4.65179559e-02 -3.33265017e-04 9.98917398e-01 -6.18322970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.42, Y:-15.92, Z:-6.19 [[ 9.65768999e-01 2.55460135e-01 4.50595165e-02 9.74238390e+01] [-2.55198590e-01 9.66819532e-01 -1.15616261e-02 -1.59195669e+01] [-4.65179553e-02 -3.33265013e-04 9.98917398e-01 -6.18543149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:-15.93, Z:-6.19 [[ 9.65714335e-01 2.55836084e-01 4.40876475e-02 9.74561799e+01] [-2.55585872e-01 9.66720116e-01 -1.13171803e-02 -1.59286148e+01] [-4.55157588e-02 -3.39016629e-04 9.98963563e-01 -6.18526592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-15.94, Z:-6.19 [[ 9.65470134e-01 2.56756903e-01 4.40830366e-02 9.74865774e+01] [-2.56507265e-01 9.66475946e-01 -1.13255944e-02 -1.59370864e+01] [-4.55131190e-02 -3.73096014e-04 9.98963671e-01 -6.18777908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-15.94, Z:-6.19 [[ 9.64831572e-01 2.59179929e-01 4.38839518e-02 9.75160166e+01] [-2.58934494e-01 9.65828939e-01 -1.12866098e-02 -1.59446710e+01] [-4.53096534e-02 -4.73391409e-04 9.98972878e-01 -6.18991318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:-15.95, Z:-6.19 [[ 9.64367521e-01 2.61029045e-01 4.31175452e-02 9.75473949e+01] [-2.60794090e-01 9.65330789e-01 -1.10865294e-02 -1.59527542e+01] [-4.45166001e-02 -5.53312078e-04 9.99008492e-01 -6.19111755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:-15.96, Z:-6.19 [[ 9.63720571e-01 2.63253433e-01 4.40487289e-02 9.75773049e+01] [-2.63010144e-01 9.64726485e-01 -1.13345696e-02 -1.59606227e+01] [-4.54788398e-02 -6.61904609e-04 9.98965083e-01 -6.19346447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.61, Y:-15.97, Z:-6.20 [[ 9.63109397e-01 2.65380067e-01 4.46509707e-02 9.76064297e+01] [-2.65131854e-01 9.64143578e-01 -1.15004717e-02 -1.59679095e+01] [-4.61019426e-02 -7.62182268e-04 9.98936449e-01 -6.19629099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-15.97, Z:-6.20 [[ 9.61494627e-01 2.71015508e-01 4.55924967e-02 9.76356666e+01] [-2.70763009e-01 9.62574405e-01 -1.17434382e-02 -1.59720071e+01] [-4.70688243e-02 -1.05350891e-03 9.98891093e-01 -6.19642550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-15.98, Z:-6.20 [[ 9.60662526e-01 2.73914862e-01 4.58056648e-02 9.76659831e+01] [-2.73663362e-01 9.61753192e-01 -1.17967010e-02 -1.59772880e+01] [-4.72850361e-02 -1.20268360e-03 9.98880713e-01 -6.19898006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-15.98, Z:-6.20 [[ 9.59253812e-01 2.78881617e-01 4.53560198e-02 9.76946568e+01] [-2.78640535e-01 9.60324420e-01 -1.16816108e-02 -1.59824393e+01] [-4.68142799e-02 -1.43239592e-03 9.98902584e-01 -6.20143170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-15.99, Z:-6.20 [[ 9.58823265e-01 2.80376326e-01 4.52444725e-02 9.77219809e+01] [-2.80138172e-01 9.59888981e-01 -1.16511202e-02 -1.59890852e+01] [-4.66963689e-02 -1.50333868e-03 9.98907998e-01 -6.20353625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:97.75, Y:-15.99, Z:-6.21 [[ 9.58624871e-01 2.80977130e-01 4.57188035e-02 9.77489722e+01] [-2.80734699e-01 9.59713212e-01 -1.17719287e-02 -1.59945668e+01] [-4.71845825e-02 -1.54999089e-03 9.98884985e-01 -6.20734484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:-16.00, Z:-6.21 [[ 9.58558741e-01 2.81020896e-01 4.68230192e-02 9.77773525e+01] [-2.80766821e-01 9.59700327e-01 -1.20529630e-02 -1.59993653e+01] [-4.83232013e-02 -1.59287719e-03 9.98830482e-01 -6.20769546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-16.01, Z:-6.21 [[ 9.58767225e-01 2.80284668e-01 4.69671467e-02 9.78041842e+01] [-2.80028250e-01 9.59915654e-01 -1.20878575e-02 -1.60052085e+01] [-4.84725405e-02 -1.56268633e-03 9.98823293e-01 -6.20990817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:-16.01, Z:-6.21 [[ 9.59117073e-01 2.79097614e-01 4.68930911e-02 9.78341970e+01] [-2.78840784e-01 9.60261558e-01 -1.20647439e-02 -1.60121886e+01] [-4.83968740e-02 -1.50420440e-03 9.98827052e-01 -6.21162409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:-16.02, Z:-6.21 [[ 9.59315786e-01 2.78320344e-01 4.74447927e-02 9.78631326e+01] [-2.78056473e-01 9.60487163e-01 -1.22068996e-02 -1.60188446e+01] [-4.89675428e-02 -1.48206022e-03 9.98799271e-01 -6.21313217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:-16.02, Z:-6.21 [[ 9.59660634e-01 2.77213040e-01 4.69510222e-02 9.78925032e+01] [-2.76953330e-01 9.60807442e-01 -1.20794676e-02 -1.60229082e+01] [-4.84594774e-02 -1.41105241e-03 9.98824153e-01 -6.21479610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:-16.03, Z:-6.22 [[ 9.59654909e-01 2.77388215e-01 4.60242808e-02 9.79209440e+01] [-2.77138907e-01 9.60756909e-01 -1.18400923e-02 -1.60283734e+01] [-4.75024479e-02 -1.39271615e-03 9.98870151e-01 -6.21708073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:-16.03, Z:-6.22 [[ 9.59345672e-01 2.78500057e-01 4.57558746e-02 9.79489340e+01] [-2.78254974e-01 9.60435132e-01 -1.17697237e-02 -1.60321192e+01] [-4.72234182e-02 -1.44056622e-03 9.98883313e-01 -6.21929063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:-16.04, Z:-6.22 [[ 9.59091930e-01 2.79307876e-01 4.61495493e-02 9.79761686e+01] [-2.79059633e-01 9.60200434e-01 -1.18679624e-02 -1.60373965e+01] [-4.76276326e-02 -1.49600934e-03 9.98864040e-01 -6.22103020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:-16.04, Z:-6.22 [[ 9.58768831e-01 2.80320423e-01 4.67203389e-02 9.80047726e+01] [-2.80067359e-01 9.59905204e-01 -1.20114448e-02 -1.60427993e+01] [-4.82141497e-02 -1.56864303e-03 9.98835790e-01 -6.22280603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-16.04, Z:-6.22 [[ 9.58120294e-01 2.82396074e-01 4.75179964e-02 9.80330011e+01] [-2.82136949e-01 9.59296385e-01 -1.22142618e-02 -1.60449056e+01] [-4.90331018e-02 -1.70385040e-03 9.98795701e-01 -6.22444135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.06, Y:-16.05, Z:-6.23 [[ 9.57991780e-01 2.82883001e-01 4.72118345e-02 9.80615368e+01] [-2.82627946e-01 9.59152880e-01 -1.21324628e-02 -1.60478898e+01] [-4.87154345e-02 -1.72058421e-03 9.98811216e-01 -6.22782689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:-16.05, Z:-6.23 [[ 9.57920680e-01 2.83160916e-01 4.69879312e-02 9.80899828e+01] [-2.82908728e-01 9.59070856e-01 -1.20724944e-02 -1.60518545e+01] [-4.84832139e-02 -1.72880376e-03 9.98822501e-01 -6.22935901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.12, Y:-16.05, Z:-6.23 [[ 9.58289861e-01 2.82057624e-01 4.60873040e-02 9.81175096e+01] [-2.81813840e-01 9.59396059e-01 -1.18389906e-02 -1.60546588e+01] [-4.75552554e-02 -1.64285550e-03 9.98867258e-01 -6.23456774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:98.14, Y:-16.06, Z:-6.24 [[ 9.58628680e-01 2.80888893e-01 4.61788199e-02 9.81449335e+01] [-2.80642918e-01 9.59738975e-01 -1.18597056e-02 -1.60606572e+01] [-4.76508728e-02 -1.59070483e-03 9.98862785e-01 -6.23740201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-16.07, Z:-6.24 [[ 9.59118092e-01 2.79112107e-01 4.67858571e-02 9.81717853e+01] [-2.78857696e-01 9.60257311e-01 -1.20117519e-02 -1.60662583e+01] [-4.82790867e-02 -1.52590778e-03 9.98832719e-01 -6.23756107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-16.07, Z:-6.24 [[ 9.59709481e-01 2.77010173e-01 4.71495158e-02 9.81995959e+01] [-2.76749391e-01 9.60865916e-01 -1.21023270e-02 -1.60719550e+01] [-4.86568303e-02 -1.43388186e-03 9.98814526e-01 -6.23885662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-16.08, Z:-6.24 [[ 9.61018646e-01 2.72323232e-01 4.77830377e-02 9.82282346e+01] [-2.72049782e-01 9.62205060e-01 -1.22612415e-02 -1.60753781e+01] [-4.93161016e-02 -1.21608328e-03 9.98782480e-01 -6.24012719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:-16.08, Z:-6.24 [[ 9.61539123e-01 2.70379031e-01 4.83497068e-02 9.82558188e+01] [-2.70096796e-01 9.62753289e-01 -1.24026690e-02 -1.60795810e+01] [-4.99022609e-02 -1.13344942e-03 9.98753463e-01 -6.24131778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:-16.08, Z:-6.24 [[ 9.62180837e-01 2.67959952e-01 4.90459143e-02 9.82842510e+01] [-2.67666581e-01 9.63429505e-01 -1.25773831e-02 -1.60828973e+01] [-5.06225158e-02 -1.02623523e-03 9.98717331e-01 -6.24387277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:-16.09, Z:-6.25 [[ 9.62364097e-01 2.67249769e-01 4.93244922e-02 9.83124410e+01] [-2.66952338e-01 9.63626776e-01 -1.26445763e-02 -1.60891025e+01] [-5.09096615e-02 -9.98602301e-04 9.98702763e-01 -6.24562703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.34, Y:-16.09, Z:-6.25 [[ 9.62557335e-01 2.66464187e-01 4.98017489e-02 9.83401836e+01] [-2.66160046e-01 9.63844333e-01 -1.27644586e-02 -1.60943766e+01] [-5.14024045e-02 -9.68712521e-04 9.98677553e-01 -6.24849308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:-16.10, Z:-6.25 [[ 9.62933492e-01 2.65170158e-01 4.94355766e-02 9.83674074e+01] [-2.64868932e-01 9.64201216e-01 -1.26674579e-02 -1.60991760e+01] [-5.10248748e-02 -8.96028941e-04 9.98696981e-01 -6.24927232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:-16.11, Z:-6.25 [[ 9.63242252e-01 2.64044206e-01 4.94471608e-02 9.83947975e+01] [-2.63741527e-01 9.64510213e-01 -1.26670781e-02 -1.61056992e+01] [-5.10369602e-02 -8.39804865e-04 9.98696412e-01 -6.25172191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:-16.11, Z:-6.25 [[ 9.63976351e-01 2.61242414e-01 5.00199506e-02 9.84222884e+01] [-2.60929116e-01 9.65272970e-01 -1.28097542e-02 -1.61092967e+01] [-5.16293574e-02 -7.03361396e-04 9.98666068e-01 -6.25321670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.45, Y:-16.11, Z:-6.26 [[ 9.64425270e-01 2.59611815e-01 4.98558357e-02 9.84510558e+01] [-2.59298564e-01 9.65712858e-01 -1.27644253e-02 -1.61133263e+01] [-5.14602172e-02 -6.17212287e-04 9.98674855e-01 -6.25707776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:-16.12, Z:-6.26 [[ 9.64895081e-01 2.57888344e-01 4.97100071e-02 9.84786117e+01] [-2.57574760e-01 9.66174583e-01 -1.27246750e-02 -1.61184797e+01] [-5.13100908e-02 -5.26066854e-04 9.98682631e-01 -6.25791312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:98.51, Y:-16.13, Z:-6.26 [[ 9.65455048e-01 2.55789958e-01 4.96794511e-02 9.85060042e+01] [-2.55474159e-01 9.66732291e-01 -1.27134329e-02 -1.61252483e+01] [-5.12786980e-02 -4.17568024e-04 9.98684295e-01 -6.26228920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-16.14, Z:-6.26 [[ 9.66558411e-01 2.51586878e-01 4.96878413e-02 9.85322494e+01] [-2.51265541e-01 9.67834699e-01 -1.27131420e-02 -1.61356001e+01] [-5.12880766e-02 -1.96848003e-04 9.98683881e-01 -6.26355384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-16.14, Z:-6.27 [[ 9.67079361e-01 2.49648194e-01 4.93283785e-02 9.85598873e+01] [-2.49329143e-01 9.68336599e-01 -1.26177953e-02 -1.61434223e+01] [-5.09164841e-02 -9.65928996e-05 9.98702910e-01 -6.26547863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-16.15, Z:-6.27 [[ 9.67664757e-01 2.47362495e-01 4.93630917e-02 9.85868818e+01] [-2.47040143e-01 9.68923008e-01 -1.26242643e-02 -1.61495117e+01] [-5.09518048e-02 2.13904470e-05 9.98701113e-01 -6.26735481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.61, Y:-16.16, Z:-6.27 [[ 9.67719894e-01 2.47067382e-01 4.97585685e-02 9.86149666e+01] [-2.46739630e-01 9.68998301e-01 -1.27219325e-02 -1.61564695e+01] [-5.13591429e-02 3.38564423e-05 9.98680248e-01 -6.27103888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.64, Y:-16.16, Z:-6.27 [[ 9.67700434e-01 2.47299815e-01 4.89762358e-02 9.86428021e+01] [-2.46982717e-01 9.68939008e-01 -1.25194425e-02 -1.61636235e+01] [-5.05510411e-02 1.87861798e-05 9.98721479e-01 -6.27261263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-16.17, Z:-6.27 [[ 9.67534087e-01 2.48049560e-01 4.84686173e-02 9.86694757e+01] [-2.47740060e-01 9.68747343e-01 -1.23873794e-02 -1.61708197e+01] [-5.00265283e-02 -2.24063999e-05 9.98747889e-01 -6.27349852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.70, Y:-16.19, Z:-6.27 [[ 9.67201313e-01 2.49176572e-01 4.93219695e-02 9.86965867e+01] [-2.49589189e-01 9.68349100e-01 2.29274278e-03 -1.61861048e+01] [-4.71895870e-02 -1.45277742e-02 9.98780299e-01 -6.26860290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:-16.18, Z:-6.28 [[ 9.66570102e-01 2.52427561e-01 4.49729266e-02 9.87277372e+01] [-2.51444050e-01 9.67511175e-01 -2.64200001e-02 -1.61763377e+01] [-5.01809452e-02 1.42286074e-02 9.98638783e-01 -6.27726743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-16.19, Z:-6.28 [[ 9.66318243e-01 2.52721614e-01 4.85884705e-02 9.87541898e+01] [-2.52416930e-01 9.67538997e-01 -1.24089797e-02 -1.61906405e+01] [-5.01472574e-02 -2.73529071e-04 9.98741797e-01 -6.27960901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.78, Y:-16.19, Z:-6.28 [[ 9.65820244e-01 2.54561194e-01 4.88861489e-02 9.87819506e+01] [-2.54255238e-01 9.67056595e-01 -1.24825866e-02 -1.61948411e+01] [-5.04532548e-02 -3.73624578e-04 9.98726354e-01 -6.28274859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.81, Y:-16.20, Z:-6.28 [[ 9.65487076e-01 2.55704591e-01 4.94961440e-02 9.88104880e+01] [-2.55392627e-01 9.66754864e-01 -1.26348494e-02 -1.62006052e+01] [-5.10814269e-02 -4.42166382e-04 9.98694394e-01 -6.28418973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-16.21, Z:-6.28 [[ 9.65250309e-01 2.56428485e-01 5.03614204e-02 9.88376348e+01] [-2.56106627e-01 9.66563082e-01 -1.28532084e-02 -1.62062298e+01] [-5.19734184e-02 -4.91330085e-04 9.98648348e-01 -6.28469724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:-16.21, Z:-6.29 [[ 9.64908045e-01 2.57499826e-01 5.14422489e-02 9.88651976e+01] [-2.57165718e-01 9.66278180e-01 -1.31252764e-02 -1.62122802e+01] [-5.30872790e-02 -5.64498060e-04 9.98589717e-01 -6.28691647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-16.22, Z:-6.29 [[ 9.64984595e-01 2.57280602e-01 5.11020926e-02 9.88927274e+01] [-2.56950792e-01 9.66336580e-01 -1.30347266e-02 -1.62192692e+01] [-5.27354037e-02 -5.52412759e-04 9.98608368e-01 -6.28873535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.92, Y:-16.23, Z:-6.29 [[ 9.65577954e-01 2.55150219e-01 5.05725373e-02 9.89206241e+01] [-2.54824510e-01 9.66901327e-01 -1.28954638e-02 -1.62252884e+01] [-5.21889339e-02 -4.35546439e-04 9.98637134e-01 -6.29258168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-16.23, Z:-6.29 [[ 9.66146876e-01 2.52968815e-01 5.06654929e-02 9.89479873e+01] [-2.52639039e-01 9.67474380e-01 -1.29166753e-02 -1.62307265e+01] [-5.22850824e-02 -3.20675972e-04 9.98632148e-01 -6.29370806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-16.24, Z:-6.30 [[ 9.66839048e-01 2.50217608e-01 5.11214680e-02 9.89755507e+01] [-2.49878204e-01 9.68189608e-01 -1.30294162e-02 -1.62372356e+01] [-5.27554634e-02 -1.76792210e-04 9.98607445e-01 -6.29620355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.25, Z:-6.29 [[ 9.67934608e-01 2.45977051e-01 5.09694431e-02 9.90022957e+01] [-2.46340202e-01 9.69183030e-01 8.71565637e-04 -1.62525457e+01] [-4.91843342e-02 -1.33994415e-02 9.98699833e-01 -6.29068613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.03, Y:-16.26, Z:-6.29 [[ 9.69592791e-01 2.40162601e-01 4.70291834e-02 9.90314720e+01] [-2.39833396e-01 9.70732216e-01 -1.26058465e-02 -1.62551482e+01] [-4.86801963e-02 9.43369165e-04 9.98813971e-01 -6.29327388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.06, Y:-16.26, Z:-6.30 [[ 9.69595260e-01 2.40093541e-01 4.73299510e-02 9.90594994e+01] [-2.39793487e-01 9.70749715e-01 -1.20031472e-02 -1.62626337e+01] [-4.88274146e-02 2.88780684e-04 9.98807189e-01 -6.29537610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.09, Y:-16.26, Z:-6.31 [[ 9.70571821e-01 2.36135109e-01 4.72287085e-02 9.90880595e+01] [-2.35147551e-01 9.71623704e-01 -2.55539983e-02 -1.62645125e+01] [-5.19227289e-02 1.36962755e-02 9.98557180e-01 -6.30774471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-16.28, Z:-6.31 [[ 9.70999503e-01 2.33856582e-01 4.97097956e-02 9.91132423e+01] [-2.33514350e-01 9.72270858e-01 -1.26659518e-02 -1.62807361e+01] [-5.12934019e-02 6.90682274e-04 9.98683388e-01 -6.30826098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.14, Y:-16.29, Z:-6.31 [[ 9.71258731e-01 2.32710368e-01 5.00236140e-02 9.91414793e+01] [-2.32362376e-01 9.72545791e-01 -1.27440292e-02 -1.62912083e+01] [-5.16159230e-02 7.54143837e-04 9.98666725e-01 -6.31180122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:-16.31, Z:-6.30 [[ 9.71333738e-01 2.32149729e-01 5.11592866e-02 9.91694243e+01] [-2.32763968e-01 9.72512773e-01 6.31201016e-03 -1.63105831e+01] [-4.82877282e-02 -1.80391069e-02 9.98670559e-01 -6.30270645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:99.20, Y:-16.30, Z:-6.32 [[ 9.70423819e-01 2.36939116e-01 4.62327387e-02 9.92033002e+01] [-2.35680729e-01 9.71333560e-01 -3.10758523e-02 -1.63012478e+01] [-5.22704956e-02 1.92605818e-02 9.98447207e-01 -6.31615670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:-16.32, Z:-6.32 [[ 9.69903771e-01 2.38056883e-01 5.11428945e-02 9.92296937e+01] [-2.37700046e-01 9.71251091e-01 -1.30386877e-02 -1.63199152e+01] [-5.27765414e-02 4.89604051e-04 9.98606227e-01 -6.31536064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:-16.33, Z:-6.32 [[ 9.69906638e-01 2.38045125e-01 5.11432467e-02 9.92588710e+01] [-2.37688345e-01 9.71253973e-01 -1.30373061e-02 -1.63273134e+01] [-5.27765487e-02 4.88816036e-04 9.98606227e-01 -6.31734397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-16.34, Z:-6.32 [[ 9.68593808e-01 2.43381634e-01 5.09059376e-02 9.92875484e+01] [-2.43035539e-01 9.69930586e-01 -1.29763348e-02 -1.63352299e+01] [-5.25334274e-02 1.96845542e-04 9.98619147e-01 -6.31942014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:99.31, Y:-16.34, Z:-6.32 [[ 9.67870631e-01 2.46178211e-01 5.12125989e-02 9.93146720e+01] [-2.45831903e-01 9.69224580e-01 -1.30533107e-02 -1.63434628e+01] [-5.28499504e-02 4.42254232e-05 9.98602464e-01 -6.32324659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:-16.36, Z:-6.32 [[ 9.67275957e-01 2.48381767e-01 5.18046462e-02 9.93419718e+01] [-2.48723095e-01 9.68574623e-01 1.46578049e-04 -1.63598897e+01] [-5.01402584e-02 -1.30267934e-02 9.98657227e-01 -6.31515809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:-16.35, Z:-6.33 [[ 9.65737570e-01 2.55025123e-01 4.80950458e-02 9.93731207e+01] [-2.54050673e-01 9.66854921e-01 -2.54915237e-02 -1.63524660e+01] [-5.30019107e-02 1.23995434e-02 9.98517425e-01 -6.32509347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:-16.37, Z:-6.33 [[ 9.65354048e-01 2.55980579e-01 5.06508077e-02 9.93983597e+01] [-2.55655108e-01 9.66681804e-01 -1.29134163e-02 -1.63663558e+01] [-5.22687979e-02 -4.83118960e-04 9.98632935e-01 -6.32721939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:-16.37, Z:-6.33 [[ 9.64997503e-01 2.57382089e-01 5.03416282e-02 9.94259267e+01] [-2.57062659e-01 9.66309551e-01 -1.28312569e-02 -1.63742554e+01] [-5.19481319e-02 -5.58821996e-04 9.98649628e-01 -6.32941265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-16.38, Z:-6.33 [[ 9.64664247e-01 2.58545957e-01 5.07629717e-02 9.94535063e+01] [-2.58222904e-01 9.65998754e-01 -1.29359887e-02 -1.63815734e+01] [-5.23815150e-02 -6.29276153e-04 9.98626948e-01 -6.33119649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-16.39, Z:-6.33 [[ 9.64126983e-01 2.60360362e-01 5.16879340e-02 9.94804835e+01] [-2.60028163e-01 9.65511227e-01 -1.31691085e-02 -1.63860792e+01] [-5.33339944e-02 -7.43625682e-04 9.98576453e-01 -6.33326050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.39, Z:-6.34 [[ 9.64143085e-01 2.60390564e-01 5.12334368e-02 9.95081345e+01] [-2.60064410e-01 9.65503083e-01 -1.30498748e-02 -1.63927157e+01] [-5.28641054e-02 -7.42046967e-04 9.98601440e-01 -6.33689550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:-16.40, Z:-6.34 [[ 9.64347773e-01 2.59771203e-01 5.05202479e-02 9.95347665e+01] [-2.59453349e-01 9.65669939e-01 -1.28657954e-02 -1.64019329e+01] [-5.21280479e-02 -7.00546411e-04 9.98640163e-01 -6.33772382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:-16.41, Z:-6.34 [[ 9.64580717e-01 2.58889574e-01 5.05986961e-02 9.95621990e+01] [-2.58569693e-01 9.65906702e-01 -1.28824400e-02 -1.64082310e+01] [-5.22087490e-02 -6.57136040e-04 9.98635977e-01 -6.33998094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:-16.41, Z:-6.34 [[ 9.64861427e-01 2.57950555e-01 5.00393658e-02 9.95907490e+01] [-2.57636614e-01 9.66157931e-01 -1.27368475e-02 -1.64146398e+01] [-5.16314070e-02 -6.02679901e-04 9.98666028e-01 -6.34209326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:99.62, Y:-16.42, Z:-6.35 [[ 9.65844713e-01 2.54371104e-01 4.93895839e-02 9.96179945e+01] [-2.54060701e-01 9.67106600e-01 -1.25692240e-02 -1.64201442e+01] [-5.09622399e-02 -4.08033806e-04 9.98700497e-01 -6.34675627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-16.43, Z:-6.35 [[ 9.66167599e-01 2.52102161e-01 5.44487896e-02 9.96429833e+01] [-2.52242417e-01 9.67654100e-01 -4.39383619e-03 -1.64335667e+01] [-5.37952901e-02 -9.48911213e-03 9.98506897e-01 -6.34798073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-16.44, Z:-6.34 [[ 9.66981749e-01 2.49230039e-01 5.32041739e-02 9.96701582e+01] [-2.49464488e-01 9.68381229e-01 -2.29464841e-03 -1.64425194e+01] [-5.20938186e-02 -1.10536689e-02 9.98581018e-01 -6.34355999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:-16.43, Z:-6.35 [[ 9.68298774e-01 2.45524651e-01 4.59905382e-02 9.97031416e+01] [-2.44213763e-01 9.69182713e-01 -3.23188248e-02 -1.64346779e+01] [-5.25083028e-02 2.00627560e-02 9.98418932e-01 -6.35111472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-16.46, Z:-6.34 [[ 9.69094591e-01 2.41433579e-01 5.06507813e-02 9.97283093e+01] [-2.41813786e-01 9.70321627e-01 1.42562573e-03 -1.64610785e+01] [-4.88033546e-02 -1.36296234e-02 9.98715408e-01 -6.34435529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.76, Y:-16.45, Z:-6.36 [[ 9.69411758e-01 2.40882875e-01 4.70774255e-02 9.97607381e+01] [-2.39869909e-01 9.70451942e-01 -2.61812133e-02 -1.64537397e+01] [-5.19929849e-02 1.40879182e-02 9.98548076e-01 -6.35753167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69264000000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:99.79, Y:-16.47, Z:-6.36 [[ 9.70242563e-01 2.36731743e-01 5.08669847e-02 9.97887674e+01] [-2.36378121e-01 9.71574904e-01 -1.29456516e-02 -1.64719833e+01] [-5.24857324e-02 5.36579892e-04 9.98621530e-01 -6.36029694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:99.82, Y:-16.48, Z:-6.36 [[ 9.70505643e-01 2.35628400e-01 5.09711026e-02 9.98174068e+01] [-2.35271729e-01 9.71843042e-01 -1.29736249e-02 -1.64809874e+01] [-5.25928659e-02 5.98916769e-04 9.98615858e-01 -6.36199552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:99.85, Y:-16.49, Z:-6.36 [[ 9.70622055e-01 2.35096629e-01 5.12093808e-02 9.98462499e+01] [-2.34735839e-01 9.71971798e-01 -1.30349313e-02 -1.64905094e+01] [-5.28385424e-02 6.31314827e-04 9.98602869e-01 -6.36446802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:-16.50, Z:-6.36 [[ 9.70481663e-01 2.35675032e-01 5.12115277e-02 9.98770076e+01] [-2.35315116e-01 9.71831735e-01 -1.30335916e-02 -1.65031171e+01] [-5.28406800e-02 5.98015058e-04 9.98602776e-01 -6.36405661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:-16.51, Z:-6.37 [[ 9.70281273e-01 2.36552304e-01 5.09633005e-02 9.99077821e+01] [-2.36196463e-01 9.71618596e-01 -1.29821232e-02 -1.65107607e+01] [-5.25878416e-02 5.58959721e-04 9.98616146e-01 -6.36578325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:-16.52, Z:-6.37 [[ 9.69830256e-01 2.37485546e-01 5.50444430e-02 9.99355504e+01] [-2.37584710e-01 9.71354813e-01 -4.83042211e-03 -1.65235119e+01] [-5.46148401e-02 -8.39302851e-03 9.98472221e-01 -6.36919500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:-16.53, Z:-6.37 [[ 9.69177097e-01 2.41407792e-01 4.91735058e-02 9.99690160e+01] [-2.40622673e-01 9.70382928e-01 -2.13939690e-02 -1.65262152e+01] [-5.28818014e-02 8.90228439e-03 9.98561097e-01 -6.37077049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:-16.54, Z:-6.37 [[ 9.68658477e-01 2.42780323e-01 5.25211454e-02 9.99966483e+01] [-2.42606130e-01 9.70075734e-01 -9.76397718e-03 -1.65429536e+01] [-5.33199902e-02 -3.28399258e-03 9.98572078e-01 -6.37303344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.03, Y:-16.55, Z:-6.38 [[ 9.68001251e-01 2.46112917e-01 4.90103066e-02 1.00028227e+02] [-2.45605332e-01 9.69234249e-01 -1.62169857e-02 -1.65483476e+01] [-5.14936774e-02 3.66086984e-03 9.98666611e-01 -6.37633317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:-16.56, Z:-6.38 [[ 9.67385376e-01 2.48332495e-01 4.99650447e-02 1.00056882e+02] [-2.48004873e-01 9.68674852e-01 -1.27520162e-02 -1.65597048e+01] [-5.15666223e-02 -5.54606299e-05 9.98669555e-01 -6.37706041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99264000000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:100.09, Y:-16.57, Z:-6.38 [[ 9.66866102e-01 2.50244537e-01 5.04738809e-02 1.00088143e+02] [-2.49912938e-01 9.68182651e-01 -1.28793471e-02 -1.65678491e+01] [-5.20909220e-02 -1.61471761e-04 9.98642333e-01 -6.38103060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:100.12, Y:-16.58, Z:-6.38 [[ 9.66185965e-01 2.52711568e-01 5.12010212e-02 1.00117907e+02] [-2.52373276e-01 9.67541617e-01 -1.30747804e-02 -1.65761914e+01] [-5.28432670e-02 -2.89100138e-04 9.98602777e-01 -6.38248574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:-16.58, Z:-6.38 [[ 9.65034305e-01 2.56721874e-01 5.29402375e-02 1.00147703e+02] [-2.56365590e-01 9.66485186e-01 -1.35303358e-02 -1.65846147e+01] [-5.46394885e-02 -5.14816979e-04 9.98506015e-01 -6.38222705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:100.18, Y:-16.59, Z:-6.39 [[ 9.64714835e-01 2.57856751e-01 5.32464414e-02 1.00177970e+02] [-2.57498072e-01 9.66182983e-01 -1.36083147e-02 -1.65919646e+01] [-5.49548014e-02 -5.82712980e-04 9.98488673e-01 -6.38593133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:-16.60, Z:-6.39 [[ 9.63900845e-01 2.60577694e-01 5.47213584e-02 1.00206731e+02] [-2.60203167e-01 9.65452584e-01 -1.39864063e-02 -1.66015630e+01] [-5.64754224e-02 -7.57161895e-04 9.98403703e-01 -6.38559413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:-16.61, Z:-6.39 [[ 9.63663754e-01 2.61363173e-01 5.51494439e-02 1.00235506e+02] [-2.60983818e-01 9.65240199e-01 -1.40998010e-02 -1.66086012e+01] [-5.69176290e-02 -8.05645237e-04 9.98378553e-01 -6.38747388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-16.62, Z:-6.39 [[ 9.63478288e-01 2.62092662e-01 5.49274549e-02 1.00265530e+02] [-2.61717600e-01 9.65042341e-01 -1.40419967e-02 -1.66153694e+01] [-5.66876240e-02 -8.46322769e-04 9.98391605e-01 -6.39014492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:-16.62, Z:-6.39 [[ 9.63363137e-01 2.62758801e-01 5.37520036e-02 1.00294392e+02] [-2.62400569e-01 9.64861163e-01 -1.37432397e-02 -1.66205535e+01] [-5.54743779e-02 -8.64825866e-04 9.98459737e-01 -6.39283907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:-16.63, Z:-6.40 [[ 9.63370584e-01 2.62749108e-01 5.36658531e-02 1.00324314e+02] [-2.62392055e-01 9.64863804e-01 -1.37203940e-02 -1.66278768e+01] [-5.53852605e-02 -8.63669486e-04 9.98464685e-01 -6.39534667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-16.63, Z:-6.40 [[ 9.63398156e-01 2.62691385e-01 5.34530523e-02 1.00353271e+02] [-2.62337063e-01 9.64879527e-01 -1.36661250e-02 -1.66344393e+01] [-5.51657291e-02 -8.56797138e-04 9.98476844e-01 -6.39753084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.38, Y:-16.64, Z:-6.40 [[ 9.63549550e-01 2.62241735e-01 5.29295513e-02 1.00382429e+02] [-2.61893676e-01 9.65001862e-01 -1.35317491e-02 -1.66393434e+01] [-5.46257049e-02 -8.23403971e-04 9.98506562e-01 -6.40156153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-16.64, Z:-6.40 [[ 9.63684867e-01 2.61943824e-01 5.19317865e-02 1.00411463e+02] [-2.61608391e-01 9.65082797e-01 -1.32756933e-02 -1.66431879e+01] [-5.35959596e-02 -7.92206397e-04 9.98562389e-01 -6.40201844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:-16.65, Z:-6.40 [[ 9.63834853e-01 2.61492094e-01 5.14223762e-02 1.00439545e+02] [-2.61162708e-01 9.65205317e-01 -1.31429025e-02 -1.66487642e+01] [-5.30699160e-02 -7.62019542e-04 9.98590508e-01 -6.40455613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:100.47, Y:-16.65, Z:-6.41 [[ 9.64182179e-01 2.60480269e-01 5.00275483e-02 1.00469362e+02] [-2.60167302e-01 9.65478924e-01 -1.27836415e-02 -1.66525056e+01] [-5.16304299e-02 -6.89772972e-04 9.98666022e-01 -6.40838475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-16.66, Z:-6.41 [[ 9.64229666e-01 2.60351915e-01 4.97798334e-02 1.00498290e+02] [-2.60041935e-01 9.65513551e-01 -1.27190778e-02 -1.66590434e+01] [-5.13745399e-02 -6.80732064e-04 9.98679224e-01 -6.40829906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:-16.66, Z:-6.41 [[ 9.64291242e-01 2.60029747e-01 5.02685989e-02 1.00526269e+02] [-2.59713270e-01 9.65600373e-01 -1.28427913e-02 -1.66640710e+01] [-5.18788856e-02 -6.71231079e-04 9.98653158e-01 -6.41010666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:100.55, Y:-16.67, Z:-6.41 [[ 9.64687145e-01 2.58313146e-01 5.15075852e-02 1.00554755e+02] [-2.57978515e-01 9.66061056e-01 -1.31575520e-02 -1.66653655e+01] [-5.31582408e-02 -5.94929075e-04 9.98585924e-01 -6.41278441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.58, Y:-16.67, Z:-6.41 [[ 9.65002997e-01 2.56996360e-01 5.21736131e-02 1.00583333e+02] [-2.56651282e-01 9.66412224e-01 -1.33241235e-02 -1.66711670e+01] [-5.38454687e-02 -5.32605602e-04 9.98549138e-01 -6.41464478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:-16.68, Z:-6.41 [[ 9.65391445e-01 2.55323681e-01 5.31899942e-02 1.00610283e+02] [-2.54962628e-01 9.66855529e-01 -1.35809933e-02 -1.66773168e+01] [-5.48945892e-02 -4.50485980e-04 9.98492054e-01 -6.41488140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:-16.68, Z:-6.42 [[ 9.65865097e-01 2.53346264e-01 5.40396553e-02 1.00638865e+02] [-2.52970703e-01 9.67375599e-01 -1.37939691e-02 -1.66835383e+01] [-5.57712945e-02 -3.47336250e-04 9.98443510e-01 -6.41660560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:-16.69, Z:-6.42 [[ 9.66963062e-01 2.49024482e-01 5.44907718e-02 1.00667061e+02] [-2.48635835e-01 9.68497185e-01 -1.39077060e-02 -1.66888311e+01] [-5.62375183e-02 -1.00120571e-04 9.98417413e-01 -6.41833315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:-16.70, Z:-6.42 [[ 9.67577700e-01 2.46660866e-01 5.43305822e-02 1.00695464e+02] [-2.46270866e-01 9.69101860e-01 -1.38652390e-02 -1.66953607e+01] [-5.60718802e-02 3.56564907e-05 9.98426734e-01 -6.42035252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:-16.70, Z:-6.42 [[ 9.68194922e-01 2.44269939e-01 5.41367625e-02 1.00723887e+02] [-2.43879067e-01 9.69707259e-01 -1.38142512e-02 -1.67021407e+01] [-5.58712178e-02 1.72064728e-04 9.98437969e-01 -6.42279799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-16.71, Z:-6.43 [[ 9.69117574e-01 2.40508343e-01 5.44689395e-02 1.00750315e+02] [-2.40250175e-01 9.70644801e-01 -1.13368471e-02 -1.67117113e+01] [-5.55965992e-02 -2.09943451e-03 9.98451106e-01 -6.42504944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:-16.72, Z:-6.43 [[ 9.69772392e-01 2.38363290e-01 5.21962649e-02 1.00780729e+02] [-2.37859998e-01 9.71171878e-01 -1.57418256e-02 -1.67171818e+01] [-5.44438180e-02 2.85058441e-03 9.98512766e-01 -6.42648400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:100.81, Y:-16.73, Z:-6.43 [[ 9.70403879e-01 2.35568712e-01 5.31384325e-02 1.00809803e+02] [-2.35179170e-01 9.71857473e-01 -1.35576829e-02 -1.67263853e+01] [-5.48367486e-02 6.59375588e-04 9.98495116e-01 -6.42903674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77264000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.84, Y:-16.73, Z:-6.43 [[ 9.70641384e-01 2.34535693e-01 5.33695902e-02 1.00838956e+02] [-2.34141147e-01 9.72107241e-01 -1.36174717e-02 -1.67341040e+01] [-5.50747482e-02 7.21664472e-04 9.98481973e-01 -6.43103893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.87, Y:-16.74, Z:-6.43 [[ 9.70641751e-01 2.34534175e-01 5.33695859e-02 1.00868928e+02] [-2.34139626e-01 9.72107607e-01 -1.36174885e-02 -1.67417506e+01] [-5.50747469e-02 7.21767983e-04 9.98481973e-01 -6.43308928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:-16.75, Z:-6.43 [[ 9.71080681e-01 2.32891880e-01 5.25707402e-02 1.00898411e+02] [-2.32506679e-01 9.72502303e-01 -1.34132676e-02 -1.67529012e+01] [-5.42490070e-02 8.02316879e-04 9.98527116e-01 -6.43387066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.93, Y:-16.76, Z:-6.44 [[ 9.71161326e-01 2.32657469e-01 5.21170026e-02 1.00927114e+02] [-2.32278479e-01 9.72558403e-01 -1.32989306e-02 -1.67611480e+01] [-5.37809243e-02 8.09748943e-04 9.98552431e-01 -6.43684383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:-16.77, Z:-6.44 [[ 9.71208921e-01 2.32409982e-01 5.23338452e-02 1.00956253e+02] [-2.32027428e-01 9.72617559e-01 -1.33550548e-02 -1.67699558e+01] [-5.40046648e-02 8.27660896e-04 9.98540340e-01 -6.43756303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:-16.78, Z:-6.44 [[ 9.71188297e-01 2.32474953e-01 5.24279252e-02 1.00985331e+02] [-2.32091123e-01 9.72602033e-01 -1.33789201e-02 -1.67782334e+01] [-5.41017704e-02 8.25394599e-04 9.98535086e-01 -6.43959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:-16.79, Z:-6.44 [[ 9.70907051e-01 2.33699485e-01 5.21924237e-02 1.01016406e+02] [-2.33320958e-01 9.72308585e-01 -1.33171057e-02 -1.67898853e+01] [-5.38593424e-02 7.52085508e-04 9.98548249e-01 -6.44156168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:101.05, Y:-16.80, Z:-6.45 [[ 9.70625462e-01 2.34911225e-01 5.19897015e-02 1.01047038e+02] [-2.34536777e-01 9.72016582e-01 -1.32764342e-02 -1.68000496e+01] [-5.36536354e-02 6.92948015e-04 9.98559366e-01 -6.44601245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.08, Y:-16.81, Z:-6.45 [[ 9.70364948e-01 2.36172016e-01 5.11336221e-02 1.01078654e+02] [-2.35811050e-01 9.71711064e-01 -1.30674072e-02 -1.68100615e+01] [-5.27732623e-02 6.22280746e-04 9.98606327e-01 -6.44754001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.11, Y:-16.82, Z:-6.45 [[ 9.70017725e-01 2.37637325e-01 5.09324606e-02 1.01109419e+02] [-2.37280635e-01 9.71353797e-01 -1.30269898e-02 -1.68191259e+01] [-5.25691380e-02 5.51124439e-04 9.98617135e-01 -6.45032762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:101.14, Y:-16.83, Z:-6.45 [[ 9.69272928e-01 2.40636389e-01 5.10305782e-02 1.01138613e+02] [-2.40281871e-01 9.70615252e-01 -1.30634824e-02 -1.68295781e+01] [-5.26746068e-02 4.00357044e-04 9.98611649e-01 -6.45245391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:-16.84, Z:-6.45 [[ 9.68993057e-01 2.41594897e-01 5.18108188e-02 1.01169415e+02] [-2.41230574e-01 9.70377132e-01 -1.32677332e-02 -1.68400562e+01] [-5.34814503e-02 3.57987772e-04 9.98568779e-01 -6.45166118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:-16.85, Z:-6.45 [[ 9.68754920e-01 2.42445346e-01 5.22891902e-02 1.01200588e+02] [-2.42075000e-01 9.70165012e-01 -1.33994288e-02 -1.68504561e+01] [-5.39777720e-02 3.22856871e-04 9.98542085e-01 -6.45365902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264000000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:101.23, Y:-16.86, Z:-6.46 [[ 9.68481469e-01 2.43691045e-01 5.15588819e-02 1.01231150e+02] [-2.43332166e-01 9.69852879e-01 -1.32231027e-02 -1.68611627e+01] [-5.32268818e-02 2.60395485e-04 9.98582411e-01 -6.45768350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.26, Y:-16.87, Z:-6.46 [[ 9.68442150e-01 2.43808711e-01 5.17408420e-02 1.01262076e+02] [-2.43446905e-01 9.69823305e-01 -1.32801495e-02 -1.68712591e+01] [-5.34172905e-02 2.64908658e-04 9.98572242e-01 -6.45907091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:101.29, Y:-16.88, Z:-6.46 [[ 9.68302805e-01 2.44182825e-01 5.25778140e-02 1.01293250e+02] [-2.43809248e-01 9.69729179e-01 -1.35044093e-02 -1.68816999e+01] [-5.42837852e-02 2.57400120e-04 9.98525515e-01 -6.46229544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:-16.89, Z:-6.46 [[ 9.68289241e-01 2.44038677e-01 5.34889732e-02 1.01323631e+02] [-2.43651128e-01 9.69765459e-01 -1.37507465e-02 -1.68918569e+01] [-5.52274726e-02 2.82051198e-04 9.98473759e-01 -6.46208255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:-16.90, Z:-6.46 [[ 9.68288775e-01 2.44161593e-01 5.29335820e-02 1.01354884e+02] [-2.43781914e-01 9.69734520e-01 -1.36139404e-02 -1.69011242e+01] [-5.46555231e-02 2.77975764e-04 9.98505231e-01 -6.46380135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.39, Y:-16.91, Z:-6.47 [[ 9.67717377e-01 2.46415293e-01 5.29394200e-02 1.01385532e+02] [-2.46038289e-01 9.69164319e-01 -1.36265445e-02 -1.69120445e+01] [-5.46647859e-02 1.61519571e-04 9.98504750e-01 -6.46864756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:-16.92, Z:-6.47 [[ 9.67315782e-01 2.48019446e-01 5.27876151e-02 1.01415733e+02] [-2.47646379e-01 9.68755050e-01 -1.35986488e-02 -1.69223611e+01] [-5.45109981e-02 8.15258304e-05 9.98513167e-01 -6.46863543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.45, Y:-16.93, Z:-6.47 [[ 9.66758849e-01 2.50305152e-01 5.21982677e-02 1.01445933e+02] [-2.49943047e-01 9.68166995e-01 -1.34589731e-02 -1.69317793e+01] [-5.39054903e-02 -3.50127228e-05 9.98546041e-01 -6.47282372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:-16.94, Z:-6.47 [[ 9.65709400e-01 2.54589144e-01 5.08893154e-02 1.01476208e+02] [-2.54250856e-01 9.67049273e-01 -1.31226932e-02 -1.69397063e+01] [-5.25533707e-02 -2.65943847e-04 9.98618081e-01 -6.47276832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:-16.95, Z:-6.47 [[ 9.65083273e-01 2.56941936e-01 5.09422994e-02 1.01506781e+02] [-2.56606149e-01 9.66426762e-01 -1.31376295e-02 -1.69469468e+01] [-5.26076094e-02 -3.93200810e-04 9.98615184e-01 -6.47430287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:-16.95, Z:-6.48 [[ 9.64458798e-01 2.59205283e-01 5.13015499e-02 1.01535473e+02] [-2.58867861e-01 9.65822112e-01 -1.32317236e-02 -1.69534838e+01] [-5.29779039e-02 -5.18870278e-04 9.98595550e-01 -6.47619580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:-16.96, Z:-6.48 [[ 9.63995421e-01 2.60924162e-01 5.12972671e-02 1.01564127e+02] [-2.60589162e-01 9.65359108e-01 -1.32318437e-02 -1.69596386e+01] [-5.29727917e-02 -6.12075112e-04 9.98595768e-01 -6.47806061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:-16.97, Z:-6.48 [[ 9.63531794e-01 2.62744289e-01 5.07141069e-02 1.01595087e+02] [-2.62419486e-01 9.64865245e-01 -1.30794920e-02 -1.69667290e+01] [-5.23688410e-02 -7.05863494e-04 9.98627561e-01 -6.47979687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:-16.97, Z:-6.48 [[ 9.63474115e-01 2.62892480e-01 5.10409098e-02 1.01624047e+02] [-2.62563602e-01 9.64824870e-01 -1.31652978e-02 -1.69744301e+01] [-5.27065970e-02 -7.17061482e-04 9.98609784e-01 -6.48233565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:-16.98, Z:-6.48 [[ 9.63475640e-01 2.62827333e-01 5.13467014e-02 1.01653264e+02] [-2.62494371e-01 9.64842619e-01 -1.32448524e-02 -1.69813985e+01] [-5.30225951e-02 -7.17127483e-04 9.98593055e-01 -6.48431801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.68, Y:-16.99, Z:-6.49 [[ 9.63623666e-01 2.62184395e-01 5.18533736e-02 1.01681302e+02] [-2.61843827e-01 9.65017549e-01 -1.33768275e-02 -1.69855896e+01] [-5.35466110e-02 -6.87258216e-04 9.98565115e-01 -6.48794203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:-16.99, Z:-6.49 [[ 9.63955040e-01 2.61022517e-01 5.15550788e-02 1.01710993e+02] [-2.60684325e-01 9.65332512e-01 -1.32974992e-02 -1.69916039e+01] [-5.32387405e-02 -6.21409583e-04 9.98581619e-01 -6.48785568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:-17.00, Z:-6.49 [[ 9.64233739e-01 2.60139206e-01 5.08024677e-02 1.01741388e+02] [-2.59809614e-01 9.65570958e-01 -1.31030356e-02 -1.69982177e+01] [-5.24620007e-02 -5.64580524e-04 9.98622761e-01 -6.48966473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:-17.00, Z:-6.49 [[ 9.64791908e-01 2.58270991e-01 4.97259431e-02 1.01771582e+02] [-2.57952673e-01 9.66072405e-01 -1.28268211e-02 -1.70039713e+01] [-5.13516572e-02 -4.51726724e-04 9.98680531e-01 -6.49270292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:-17.01, Z:-6.50 [[ 9.65192062e-01 2.56791518e-01 4.96225763e-02 1.01800841e+02] [-2.56472507e-01 9.66466750e-01 -1.28013476e-02 -1.70106738e+01] [-5.12458475e-02 -3.71067474e-04 9.98685999e-01 -6.49503620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:-17.02, Z:-6.50 [[ 9.65609480e-01 2.55180229e-01 4.98134923e-02 1.01829366e+02] [-2.54856678e-01 9.66893463e-01 -1.28493396e-02 -1.70173640e+01] [-5.14432375e-02 -2.87857067e-04 9.98675879e-01 -6.49657943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.86, Y:-17.02, Z:-6.50 [[ 9.66340749e-01 2.52176147e-01 5.09190368e-02 1.01858165e+02] [-2.51833965e-01 9.67681339e-01 -1.31331984e-02 -1.70228457e+01] [-5.25852810e-02 -1.31998136e-04 9.98616428e-01 -6.49900822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:-17.03, Z:-6.50 [[ 9.66826729e-01 2.50320453e-01 5.08502350e-02 1.01887218e+02] [-2.49976696e-01 9.68163039e-01 -1.31141767e-02 -1.70296795e+01] [-5.25140647e-02 -3.22372100e-05 9.98620184e-01 -6.49983605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:-17.04, Z:-6.50 [[ 9.67254484e-01 2.48717113e-01 5.05822131e-02 1.01917244e+02] [-2.48374883e-01 9.68576169e-01 -1.30431050e-02 -1.70363598e+01] [-5.22367696e-02 5.26505414e-05 9.98634727e-01 -6.50230998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:-17.04, Z:-6.50 [[ 9.67669912e-01 2.47170978e-01 5.02140321e-02 1.01947773e+02] [-2.46831567e-01 9.68971872e-01 -1.29494647e-02 -1.70432982e+01] [-5.18567165e-02 1.36399196e-04 9.98654526e-01 -6.50414769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:-17.05, Z:-6.51 [[ 9.68424184e-01 2.44261529e-01 4.99089774e-02 1.01979238e+02] [-2.43922416e-01 9.69709349e-01 -1.28698580e-02 -1.70502891e+01] [-5.15408131e-02 2.89563382e-04 9.98670847e-01 -6.50680358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:-17.06, Z:-6.51 [[ 9.68714573e-01 2.43058833e-01 5.01445874e-02 1.02010662e+02] [-2.42714418e-01 9.70011480e-01 -1.29398727e-02 -1.70588829e+01] [-5.17859758e-02 3.64228934e-04 9.98658140e-01 -6.50921593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:-17.07, Z:-6.51 [[ 9.68940103e-01 2.42029028e-01 5.07644184e-02 1.02040724e+02] [-2.41674121e-01 9.70268912e-01 -1.31094618e-02 -1.70664260e+01] [-5.24280073e-02 4.33837076e-04 9.98624612e-01 -6.51132379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.07, Y:-17.07, Z:-6.51 [[ 9.68990576e-01 2.41777755e-01 5.09978575e-02 1.02071529e+02] [-2.41418777e-01 9.70331545e-01 -1.31782611e-02 -1.70735917e+01] [-5.26710402e-02 4.57770402e-04 9.98611812e-01 -6.51454543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-17.08, Z:-6.52 [[ 9.69431850e-01 2.40097350e-01 5.05484904e-02 1.02101892e+02] [-2.39741903e-01 9.70748658e-01 -1.30714793e-02 -1.70803467e+01] [-5.22083068e-02 5.53317068e-04 9.98636063e-01 -6.51533624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:-17.09, Z:-6.52 [[ 9.69492816e-01 2.39861471e-01 5.04990485e-02 1.02131664e+02] [-2.39505836e-01 9.70806954e-01 -1.30694877e-02 -1.70885466e+01] [-5.21596941e-02 5.75957535e-04 9.98638591e-01 -6.51727104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:-17.10, Z:-6.52 [[ 9.69448604e-01 2.39949375e-01 5.09284047e-02 1.02161980e+02] [-2.39587801e-01 9.70785232e-01 -1.31802766e-02 -1.70966443e+01] [-5.26031423e-02 5.75776218e-04 9.98615330e-01 -6.51870799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:-17.10, Z:-6.52 [[ 9.69256848e-01 2.40728845e-01 5.08997695e-02 1.02192068e+02] [-2.40368684e-01 9.70592261e-01 -1.31741521e-02 -1.71043325e+01] [-5.25743208e-02 5.34426528e-04 9.98616871e-01 -6.52059269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:-17.11, Z:-6.52 [[ 9.69221274e-01 2.40795094e-01 5.12625115e-02 1.02222430e+02] [-2.40429909e-01 9.70575828e-01 -1.32673122e-02 -1.71133960e+01] [-5.29488582e-02 5.33920291e-04 9.98597083e-01 -6.52294931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:-17.12, Z:-6.52 [[ 9.69226400e-01 2.40549683e-01 5.23071223e-02 1.02252829e+02] [-2.40168565e-01 9.70636661e-01 -1.35474399e-02 -1.71228320e+01] [-5.40300429e-02 5.68009906e-04 9.98539149e-01 -6.52440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:-17.13, Z:-6.53 [[ 9.69462557e-01 2.39496471e-01 5.27616339e-02 1.02283996e+02] [-2.39106561e-01 9.70897022e-01 -1.36757117e-02 -1.71316708e+01] [-5.45013979e-02 6.42437577e-04 9.98513488e-01 -6.52669603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-17.14, Z:-6.53 [[ 9.69669633e-01 2.38812980e-01 5.20496150e-02 1.02315834e+02] [-2.38432030e-01 9.71065341e-01 -1.35007542e-02 -1.71405714e+01] [-5.37677325e-02 6.80976031e-04 9.98553237e-01 -6.52903715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:-17.15, Z:-6.53 [[ 9.69871281e-01 2.38059418e-01 5.17437049e-02 1.02346171e+02] [-2.37681283e-01 9.71250319e-01 -1.34322669e-02 -1.71506432e+01] [-5.34537675e-02 7.29059766e-04 9.98570059e-01 -6.53150658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-17.16, Z:-6.53 [[ 9.70060302e-01 2.37266852e-01 5.18406373e-02 1.02377654e+02] [-2.36885632e-01 9.71444196e-01 -1.34674063e-02 -1.71617260e+01] [-5.35556553e-02 7.83894084e-04 9.98564558e-01 -6.53394851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33264000000001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:102.41, Y:-17.17, Z:-6.54 [[ 9.70162268e-01 2.36780603e-01 5.21547749e-02 1.02408775e+02] [-2.36393455e-01 9.71562794e-01 -1.35599209e-02 -1.71730749e+01] [-5.38823651e-02 8.26276188e-04 9.98546948e-01 -6.53900992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-17.19, Z:-6.54 [[ 9.70685508e-01 2.34748101e-01 5.16040117e-02 1.02440022e+02] [-2.34365660e-01 9.72055784e-01 -1.34272418e-02 -1.71859185e+01] [-5.33139975e-02 9.39420726e-04 9.98577356e-01 -6.53767105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.47, Y:-17.20, Z:-6.54 [[ 9.70670308e-01 2.34798244e-01 5.16617684e-02 1.02469607e+02] [-2.34414425e-01 9.72043664e-01 -1.34533349e-02 -1.71969483e+01] [-5.33763140e-02 9.48488991e-04 9.98574018e-01 -6.54215501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:-17.21, Z:-6.54 [[ 9.70837992e-01 2.34305582e-01 5.07394053e-02 1.02500678e+02] [-2.33934187e-01 9.72162517e-01 -1.32226112e-02 -1.72106109e+01] [-5.24250795e-02 9.67331731e-04 9.98624392e-01 -6.54242875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.53, Y:-17.22, Z:-6.55 [[ 9.70638034e-01 2.35129038e-01 5.07557163e-02 1.02530593e+02] [-2.34757945e-01 9.71963715e-01 -1.32379709e-02 -1.72207886e+01] [-5.24453460e-02 9.33970379e-04 9.98623359e-01 -6.54615473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:-17.23, Z:-6.55 [[ 9.70526962e-01 2.35543474e-01 5.09577107e-02 1.02561616e+02] [-2.35169445e-01 9.71863373e-01 -1.33009970e-02 -1.72307113e+01] [-5.26568957e-02 9.25279693e-04 9.98612235e-01 -6.54676355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:-17.24, Z:-6.55 [[ 9.70331288e-01 2.36373092e-01 5.08424406e-02 1.02592840e+02] [-2.36001375e-01 9.71661964e-01 -1.32807309e-02 -1.72409261e+01] [-5.25408731e-02 8.87822789e-04 9.98618380e-01 -6.54920361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.62, Y:-17.25, Z:-6.55 [[ 9.69964876e-01 2.37853219e-01 5.09311835e-02 1.02623627e+02] [-2.37481697e-01 9.71300765e-01 -1.33142019e-02 -1.72520442e+01] [-5.26363233e-02 8.19084282e-04 9.98613412e-01 -6.55340804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.65, Y:-17.27, Z:-6.55 [[ 9.69247475e-01 2.40864207e-01 5.04357705e-02 1.02654157e+02] [-2.40503411e-01 9.70558602e-01 -1.31950851e-02 -1.72659542e+01] [-5.21290946e-02 6.59328107e-04 9.98640137e-01 -6.55465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264000000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:102.68, Y:-17.28, Z:-6.56 [[ 9.68671688e-01 2.43203304e-01 5.02723881e-02 1.02684214e+02] [-2.42847422e-01 9.69975185e-01 -1.31632248e-02 -1.72759955e+01] [-5.19643087e-02 5.42323375e-04 9.98648795e-01 -6.55730110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:-17.29, Z:-6.56 [[ 9.68065516e-01 2.45682322e-01 4.98934193e-02 1.02715012e+02] [-2.45334519e-01 9.69350310e-01 -1.30748284e-02 -1.72860060e+01] [-5.15764557e-02 4.16712523e-04 9.98668962e-01 -6.55674540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264000000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:102.75, Y:-17.30, Z:-6.56 [[ 9.66469411e-01 2.52039521e-01 4.91218696e-02 1.02745868e+02] [-2.51710322e-01 9.67716939e-01 -1.28779035e-02 -1.72978085e+01] [-5.07818059e-02 8.16182411e-05 9.98709768e-01 -6.56188578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:-17.31, Z:-6.56 [[ 9.65649581e-01 2.55122000e-01 4.93320599e-02 1.02776432e+02] [-2.54793452e-01 9.66908869e-01 -1.29435902e-02 -1.73074036e+01] [-5.10018008e-02 -7.05133707e-05 9.98698559e-01 -6.56126973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:-17.32, Z:-6.56 [[ 9.65628805e-01 2.55201158e-01 4.93292956e-02 1.02808727e+02] [-2.54872176e-01 9.66887980e-01 -1.29541158e-02 -1.73160282e+01] [-5.10018083e-02 -6.37975367e-05 9.98698559e-01 -6.56348651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:-17.33, Z:-6.57 [[ 9.64763301e-01 2.58355347e-01 4.98426352e-02 1.02840312e+02] [-2.58023542e-01 9.66049927e-01 -1.30916075e-02 -1.73252934e+01] [-5.15327609e-02 -2.30270813e-04 9.98671278e-01 -6.56574737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:-17.33, Z:-6.57 [[ 9.63259844e-01 2.63764907e-01 5.05820811e-02 1.02870509e+02] [-2.63430047e-01 9.64586858e-01 -1.32967503e-02 -1.73341650e+01] [-5.22980268e-02 -5.16614396e-04 9.98631388e-01 -6.56778589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:-17.34, Z:-6.57 [[ 9.62633938e-01 2.66062692e-01 5.04633022e-02 1.02902242e+02] [-2.65732056e-01 9.63955521e-01 -1.32750949e-02 -1.73426377e+01] [-5.21763862e-02 -6.30660170e-04 9.98637686e-01 -6.56997005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:-17.35, Z:-6.57 [[ 9.62048600e-01 2.68234385e-01 5.01279024e-02 1.02933299e+02] [-2.67910533e-01 9.63353402e-01 -1.31973243e-02 -1.73514646e+01] [-5.18308615e-02 -7.33325727e-04 9.98655608e-01 -6.57198759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:-17.36, Z:-6.57 [[ 9.61186457e-01 2.71450108e-01 4.93501206e-02 1.02965335e+02] [-2.71139995e-01 9.62452107e-01 -1.30017232e-02 -1.73606670e+01] [-5.10264467e-02 -8.83711217e-04 9.98696911e-01 -6.57427578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:-17.37, Z:-6.58 [[ 9.60854153e-01 2.72657855e-01 4.91629044e-02 1.02995527e+02] [-2.72351140e-01 9.62110608e-01 -1.29628485e-02 -1.73684200e+01] [-5.08345743e-02 -9.34166264e-04 9.98706650e-01 -6.57670746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:-17.38, Z:-6.58 [[ 9.60653798e-01 2.73468368e-01 4.85729502e-02 1.03027499e+02] [-2.73169650e-01 9.61880519e-01 -1.28144077e-02 -1.73766415e+01] [-5.02257097e-02 -9.58446363e-04 9.98737433e-01 -6.57868697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:-17.38, Z:-6.58 [[ 9.60374481e-01 2.74322900e-01 4.92727366e-02 1.03059404e+02] [-2.74016088e-01 9.61637110e-01 -1.30096793e-02 -1.73829974e+01] [-5.09513450e-02 -1.00735847e-03 9.98700629e-01 -6.58020792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:-17.39, Z:-6.58 [[ 9.60295042e-01 2.74468345e-01 5.00056019e-02 1.03089768e+02] [-2.74151895e-01 9.61595596e-01 -1.32154339e-02 -1.73893447e+01] [-5.17123848e-02 -1.01841490e-03 9.98661500e-01 -6.58168072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:103.12, Y:-17.40, Z:-6.58 [[ 9.60165828e-01 2.74966247e-01 4.97508438e-02 1.03121591e+02] [-2.74653753e-01 9.61453316e-01 -1.31467503e-02 -1.73960056e+01] [-5.14480263e-02 -1.04119560e-03 9.98675131e-01 -6.58466609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:-17.40, Z:-6.59 [[ 9.60217224e-01 2.74664771e-01 5.04197103e-02 1.03154085e+02] [-2.74342845e-01 9.61539498e-01 -1.33340852e-02 -1.74029931e+01] [-5.21429464e-02 -1.02866850e-03 9.98639101e-01 -6.58541245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:-17.41, Z:-6.59 [[ 9.60322213e-01 2.74424961e-01 4.97210984e-02 1.03186375e+02] [-2.74111051e-01 9.61608006e-01 -1.31595635e-02 -1.74093531e+01] [-5.14235190e-02 -9.91681407e-04 9.98676443e-01 -6.58657530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.22, Y:-17.42, Z:-6.59 [[ 9.60254352e-01 2.74751944e-01 4.92234607e-02 1.03216742e+02] [-2.74444171e-01 9.61514634e-01 -1.30386166e-02 -1.74157286e+01] [-5.09114630e-02 -9.88703504e-04 9.98702681e-01 -6.58954936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:-17.42, Z:-6.59 [[ 9.60396445e-01 2.74205039e-01 4.95001490e-02 1.03248161e+02] [-2.73892528e-01 9.61670778e-01 -1.31224429e-02 -1.74183392e+01] [-5.12010868e-02 -9.54973375e-04 9.98687908e-01 -6.58998643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:-17.42, Z:-6.59 [[ 9.60543357e-01 2.73758605e-01 4.91191040e-02 1.03277826e+02] [-2.73450232e-01 9.61797991e-01 -1.30228919e-02 -1.74233363e+01] [-5.08077842e-02 -9.22578057e-04 9.98708024e-01 -6.59176465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.31, Y:-17.43, Z:-6.59 [[ 9.60827931e-01 2.72935239e-01 4.81252750e-02 1.03308258e+02] [-2.72638153e-01 9.62032024e-01 -1.27602120e-02 -1.74281552e+01] [-4.97807672e-02 -8.60417996e-04 9.98759798e-01 -6.59422708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:103.34, Y:-17.43, Z:-6.60 [[ 9.61024256e-01 2.72276877e-01 4.79341491e-02 1.03337615e+02] [-2.71981317e-01 9.62218595e-01 -1.27097444e-02 -1.74325627e+01] [-4.95836991e-02 -8.22820395e-04 9.98769633e-01 -6.59712176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:-17.43, Z:-6.60 [[ 9.61690856e-01 2.69935798e-01 4.78054738e-02 1.03366425e+02] [-2.69638923e-01 9.62878069e-01 -1.26758045e-02 -1.74340841e+01] [-4.94524957e-02 -7.00011180e-04 9.98776232e-01 -6.59692179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:-17.44, Z:-6.60 [[ 9.62164814e-01 2.68291307e-01 4.75252055e-02 1.03395525e+02] [-2.67996075e-01 9.63337633e-01 -1.25979371e-02 -1.74391141e+01] [-4.91627360e-02 -6.15276668e-04 9.98790592e-01 -6.59889933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.43, Y:-17.44, Z:-6.60 [[ 9.62719989e-01 2.66463474e-01 4.65557734e-02 1.03425205e+02] [-2.66178090e-01 9.63844881e-01 -1.23397754e-02 -1.74438326e+01] [-4.81606433e-02 -5.12378450e-04 9.98839472e-01 -6.60153661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.45, Y:-17.45, Z:-6.60 [[ 9.63774697e-01 2.62738621e-01 4.58993622e-02 1.03454926e+02] [-2.62457059e-01 9.64866992e-01 -1.21646571e-02 -1.74452101e+01] [-4.74829048e-02 -3.22622899e-04 9.98871999e-01 -6.60340142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:-17.45, Z:-6.60 [[ 9.64381402e-01 2.60419219e-01 4.63717758e-02 1.03483257e+02] [-2.60129192e-01 9.65495617e-01 -1.22889201e-02 -1.74501456e+01] [-4.79720172e-02 -2.11446604e-04 9.98848658e-01 -6.60438126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:-17.46, Z:-6.61 [[ 9.65027734e-01 2.57851063e-01 4.72684105e-02 1.03511395e+02] [-2.57546761e-01 9.66184673e-01 -1.25237625e-02 -1.74553780e+01] [-4.88992792e-02 -8.80478810e-05 9.98803711e-01 -6.60609607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:-17.46, Z:-6.61 [[ 9.66381992e-01 2.52670929e-01 4.75735977e-02 1.03538742e+02] [-2.52356473e-01 9.67552258e-01 -1.26031455e-02 -1.74598123e+01] [-4.92143904e-02 1.73947544e-04 9.98788223e-01 -6.60745259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:-17.47, Z:-6.61 [[ 9.67087131e-01 2.49996905e-01 4.73711755e-02 1.03567152e+02] [-2.49682091e-01 9.68246587e-01 -1.25458786e-02 -1.74664295e+01] [-4.90034099e-02 3.05223611e-04 9.98798565e-01 -6.60947088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:-17.47, Z:-6.61 [[ 9.67722112e-01 2.47463370e-01 4.77052829e-02 1.03596008e+02] [-2.47141081e-01 9.68897152e-01 -1.26330978e-02 -1.74730741e+01] [-4.93477417e-02 4.35392941e-04 9.98781563e-01 -6.61144227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-17.48, Z:-6.61 [[ 9.68330198e-01 2.45104369e-01 4.75444551e-02 1.03624212e+02] [-2.44781480e-01 9.69496541e-01 -1.25890494e-02 -1.74797372e+01] [-4.91798158e-02 5.52354655e-04 9.98789788e-01 -6.61306202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.65, Y:-17.49, Z:-6.62 [[ 9.69479751e-01 2.40595049e-01 4.71490695e-02 1.03654857e+02] [-2.40272238e-01 9.70625275e-01 -1.24830876e-02 -1.74871933e+01] [-4.87674476e-02 7.73488200e-04 9.98809861e-01 -6.61613125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-17.50, Z:-6.62 [[ 9.69915712e-01 2.38657573e-01 4.80216103e-02 1.03684900e+02] [-2.38320257e-01 9.71103380e-01 -1.27154048e-02 -1.74956423e+01] [-4.96685757e-02 8.88348403e-04 9.98765360e-01 -6.61709877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:103.71, Y:-17.50, Z:-6.62 [[ 9.70230297e-01 2.37400168e-01 4.78991691e-02 1.03714407e+02] [-2.37063091e-01 9.71411478e-01 -1.26819479e-02 -1.75041816e+01] [-4.95404992e-02 9.49285025e-04 9.98771664e-01 -6.62013477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-17.51, Z:-6.62 [[ 9.70502081e-01 2.36189841e-01 4.83742766e-02 1.03746082e+02] [-2.35844156e-01 9.71706386e-01 -1.28153297e-02 -1.75132571e+01] [-5.00324442e-02 1.02851370e-03 9.98747063e-01 -6.62089594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:-17.52, Z:-6.62 [[ 9.70727367e-01 2.35362774e-01 4.78826088e-02 1.03776516e+02] [-2.35022575e-01 9.71907001e-01 -1.26952690e-02 -1.75239193e+01] [-4.95254365e-02 1.07015107e-03 9.98772289e-01 -6.62341003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:-17.53, Z:-6.63 [[ 9.70656552e-01 2.35824398e-01 4.70394563e-02 1.03807740e+02] [-2.35496146e-01 9.71795131e-01 -1.24815344e-02 -1.75346317e+01] [-4.86561649e-02 1.03767249e-03 9.98815048e-01 -6.62585685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264000000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:103.84, Y:-17.55, Z:-6.63 [[ 9.70459474e-01 2.36837269e-01 4.60056293e-02 1.03837919e+02] [-2.36523970e-01 9.71548845e-01 -1.22169304e-02 -1.75451466e+01] [-4.75901404e-02 9.74601733e-04 9.98866472e-01 -6.62899061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.87, Y:-17.56, Z:-6.63 [[ 9.70124593e-01 2.38259829e-01 4.57223023e-02 1.03868760e+02] [-2.37951524e-01 9.71201024e-01 -1.21508519e-02 -1.75555813e+01] [-4.73006068e-02 9.08148764e-04 9.98880287e-01 -6.63096279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.90, Y:-17.56, Z:-6.63 [[ 9.68993525e-01 2.42733590e-01 4.61730804e-02 1.03897438e+02] [-2.42423725e-01 9.70092730e-01 -1.22814230e-02 -1.75649440e+01] [-4.77732835e-02 7.07169248e-04 9.98857955e-01 -6.63231833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.93, Y:-17.57, Z:-6.63 [[ 9.68262207e-01 2.45557776e-01 4.65797821e-02 1.03926994e+02] [-2.45245520e-01 9.69381786e-01 -1.23930908e-02 -1.75737270e+01] [-4.81968121e-02 5.76278626e-04 9.98837692e-01 -6.63386768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:-17.58, Z:-6.64 [[ 9.67383188e-01 2.48886871e-01 4.71708908e-02 1.03956530e+02] [-2.48570503e-01 9.68532473e-01 -1.25520435e-02 -1.75825550e+01] [-4.88105784e-02 4.17343828e-04 9.98807966e-01 -6.63575669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-17.59, Z:-6.64 [[ 9.65558494e-01 2.55868667e-01 4.72019043e-02 1.03984284e+02] [-2.55560182e-01 9.66711550e-01 -1.25607388e-02 -1.75915849e+01] [-4.88445255e-02 6.52007749e-05 9.98806392e-01 -6.63791571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-17.60, Z:-6.64 [[ 9.64674225e-01 2.59210060e-01 4.70508705e-02 1.04012043e+02] [-2.58907565e-01 9.65820964e-01 -1.25195284e-02 -1.75993545e+01] [-4.86879048e-02 -1.04559926e-04 9.98814035e-01 -6.63957110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-17.61, Z:-6.64 [[ 9.63812018e-01 2.62303566e-01 4.75734495e-02 1.04040209e+02] [-2.61998179e-01 9.64985372e-01 -1.26564455e-02 -1.76071141e+01] [-4.92275136e-02 -2.65722896e-04 9.98787556e-01 -6.64161150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:-17.61, Z:-6.64 [[ 9.62360835e-01 2.67350232e-01 4.88413502e-02 1.04067451e+02] [-2.67034863e-01 9.63599276e-01 -1.29930142e-02 -1.76143593e+01] [-5.05371750e-02 -5.38375231e-04 9.98722035e-01 -6.64321142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:-17.62, Z:-6.65 [[ 9.61921096e-01 2.68970989e-01 4.86046471e-02 1.04095207e+02] [-2.68660907e-01 9.63148077e-01 -1.29266728e-02 -1.76210516e+01] [-5.02903724e-02 -6.23729328e-04 9.98734444e-01 -6.64516326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.12, Y:-17.63, Z:-6.65 [[ 9.61744299e-01 2.69800602e-01 4.74925174e-02 1.04123509e+02] [-2.69505682e-01 9.62915992e-01 -1.26285366e-02 -1.76279628e+01] [-4.91384913e-02 -6.54080260e-04 9.98791761e-01 -6.64847509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:-17.64, Z:-6.65 [[ 9.61635291e-01 2.70169417e-01 4.76030817e-02 1.04150160e+02] [-2.69873683e-01 9.62812561e-01 -1.26557013e-02 -1.76353217e+01] [-4.92520285e-02 -6.76649934e-04 9.98786153e-01 -6.65000320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-17.64, Z:-6.65 [[ 9.61802979e-01 2.69659873e-01 4.71018218e-02 1.04177374e+02] [-2.69369881e-01 9.62955417e-01 -1.25193003e-02 -1.76441603e+01] [-4.87329073e-02 -6.46711793e-04 9.98811637e-01 -6.65242379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:-17.65, Z:-6.65 [[ 9.61912267e-01 2.69300006e-01 4.69286314e-02 1.04204435e+02] [-2.69011823e-01 9.63056131e-01 -1.24710502e-02 -1.76517611e+01] [-4.85533601e-02 -6.28300478e-04 9.98820393e-01 -6.65443655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.23, Y:-17.66, Z:-6.66 [[ 9.61981960e-01 2.69030853e-01 4.70436951e-02 1.04233025e+02] [-2.68741113e-01 9.63131360e-01 -1.24979420e-02 -1.76589143e+01] [-4.86715900e-02 -6.19780194e-04 9.98814644e-01 -6.65658164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-17.67, Z:-6.66 [[ 9.61872178e-01 2.69255918e-01 4.79912879e-02 1.04261057e+02] [-2.68954716e-01 9.63068447e-01 -1.27485770e-02 -1.76652067e+01] [-4.96515249e-02 -6.44981666e-04 9.98766394e-01 -6.65771517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:-17.67, Z:-6.66 [[ 9.61833550e-01 2.69373243e-01 4.81069441e-02 1.04287607e+02] [-2.69070811e-01 9.63035632e-01 -1.27777368e-02 -1.76716664e+01] [-4.97706817e-02 -6.54118521e-04 9.98760457e-01 -6.65936285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-17.68, Z:-6.66 [[ 9.61839879e-01 2.69394335e-01 4.78616707e-02 1.04316022e+02] [-2.69095185e-01 9.63029731e-01 -1.27090016e-02 -1.76793011e+01] [-4.95159449e-02 -6.55320542e-04 9.98773118e-01 -6.66133755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-17.69, Z:-6.66 [[ 9.62075237e-01 2.68661117e-01 4.72487254e-02 1.04344809e+02] [-2.68368760e-01 9.63234567e-01 -1.25450293e-02 -1.76856033e+01] [-4.88819672e-02 -6.10819804e-04 9.98804375e-01 -6.66354273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:-17.69, Z:-6.67 [[ 9.62252827e-01 2.68089629e-01 4.68769437e-02 1.04373088e+02] [-2.67801216e-01 9.63393802e-01 -1.24455500e-02 -1.76913480e+01] [-4.84974799e-02 -5.77936847e-04 9.98823138e-01 -6.66635359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-17.70, Z:-6.67 [[ 9.62441270e-01 2.67432804e-01 4.67599883e-02 1.04399953e+02] [-2.67145155e-01 9.63576358e-01 -1.24124193e-02 -1.76967485e+01] [-4.83763074e-02 -5.45479742e-04 9.98829032e-01 -6.66871403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.43, Y:-17.70, Z:-6.67 [[ 9.62771575e-01 2.66245942e-01 4.67332139e-02 1.04428621e+02] [-2.65957410e-01 9.63905005e-01 -1.24014874e-02 -1.77027061e+01] [-4.83482245e-02 -4.89244967e-04 9.98830421e-01 -6.67087224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-17.71, Z:-6.67 [[ 9.63369773e-01 2.63716549e-01 4.87058783e-02 1.04455791e+02] [-2.63400018e-01 9.64600144e-01 -1.29225685e-02 -1.77079152e+01] [-5.03895923e-02 -3.79917377e-04 9.98729565e-01 -6.67170018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:-17.71, Z:-6.67 [[ 9.63723847e-01 2.62386356e-01 4.88850418e-02 1.04483546e+02] [-2.62065993e-01 9.64962849e-01 -1.29659030e-02 -1.77149427e+01] [-5.05743253e-02 -3.15557123e-04 9.98720250e-01 -6.67342759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:-17.72, Z:-6.67 [[ 9.64070589e-01 2.61316690e-01 4.77649200e-02 1.04513136e+02] [-2.60996211e-01 9.65253121e-01 -1.29379364e-02 -1.77215148e+01] [-4.94861368e-02 6.62079341e-06 9.98774811e-01 -6.67445146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:-17.73, Z:-6.68 [[ 9.63900141e-01 2.61604316e-01 4.95953678e-02 1.04543171e+02] [-2.61295140e-01 9.65174965e-01 -1.27333252e-02 -1.77283777e+01] [-5.11993002e-02 -6.85374594e-04 9.98688221e-01 -6.67649012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.57, Y:-17.73, Z:-6.68 [[ 9.63765043e-01 2.62205252e-01 4.90443512e-02 1.04570621e+02] [-2.61882211e-01 9.65012081e-01 -1.30150588e-02 -1.77327524e+01] [-5.07410082e-02 -3.00384480e-04 9.98711800e-01 -6.68008555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:-17.74, Z:-6.68 [[ 9.63512833e-01 2.63142764e-01 4.89786273e-02 1.04598529e+02] [-2.62821991e-01 9.64756840e-01 -1.29938424e-02 -1.77379644e+01] [-5.06717013e-02 -3.52926447e-04 9.98715302e-01 -6.68083882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.63, Y:-17.74, Z:-6.68 [[ 9.63041283e-01 2.64927316e-01 4.86313111e-02 1.04627656e+02] [-2.64613517e-01 9.64268281e-01 -1.28984139e-02 -1.77414454e+01] [-5.03107729e-02 -4.46797214e-04 9.98733511e-01 -6.68417052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.66, Y:-17.75, Z:-6.69 [[ 9.63051180e-01 2.64891210e-01 4.86320046e-02 1.04655966e+02] [-2.64577497e-01 9.64278200e-01 -1.28957986e-02 -1.77488681e+01] [-5.03107655e-02 -4.47619993e-04 9.98733511e-01 -6.68611044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:-17.75, Z:-6.69 [[ 9.62780162e-01 2.65812427e-01 4.89705373e-02 1.04683382e+02] [-2.65495600e-01 9.64024638e-01 -1.29839839e-02 -1.77542356e+01] [-5.06601088e-02 -5.00740031e-04 9.98715827e-01 -6.68665709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:-17.76, Z:-6.69 [[ 9.62500895e-01 2.66790855e-01 4.91392571e-02 1.04710618e+02] [-2.66473280e-01 9.63754289e-01 -1.30254333e-02 -1.77590825e+01] [-5.08332363e-02 -5.57307765e-04 9.98707000e-01 -6.68872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:-17.76, Z:-6.69 [[ 9.62222071e-01 2.67875784e-01 4.86954842e-02 1.04739167e+02] [-2.67565480e-01 9.63453263e-01 -1.29044362e-02 -1.77639072e+01] [-5.03726090e-02 -6.12297292e-04 9.98730307e-01 -6.69080472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:-17.77, Z:-6.69 [[ 9.61854547e-01 2.69091341e-01 4.92511908e-02 1.04767074e+02] [-2.68775626e-01 9.63114417e-01 -1.30492804e-02 -1.77652041e+01] [-5.09459803e-02 -6.86009946e-04 9.98701175e-01 -6.69409224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:-17.77, Z:-6.70 [[ 9.61801371e-01 2.69147166e-01 4.99792559e-02 1.04794482e+02] [-2.68822277e-01 9.63098806e-01 -1.32390768e-02 -1.77693806e+01] [-5.16982217e-02 -7.02175210e-04 9.98662506e-01 -6.69577551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-17.77, Z:-6.70 [[ 9.61944922e-01 2.68604641e-01 5.01349579e-02 1.04821610e+02] [-2.68277170e-01 9.63250272e-01 -1.32768138e-02 -1.77734252e+01] [-5.18587257e-02 -6.78500985e-04 9.98654201e-01 -6.69776770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-17.78, Z:-6.70 [[ 9.62195550e-01 2.67725138e-01 5.00297400e-02 1.04849596e+02] [-2.67398170e-01 9.63495120e-01 -1.32428263e-02 -1.77776645e+01] [-5.17488479e-02 -6.35672434e-04 9.98659928e-01 -6.70023834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-17.78, Z:-6.70 [[ 9.62857844e-01 2.65377085e-01 4.97973342e-02 1.04877104e+02] [-2.65050186e-01 9.64144565e-01 -1.31778920e-02 -1.77800560e+01] [-5.15089397e-02 -5.10355932e-04 9.98672403e-01 -6.70329994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:-17.79, Z:-6.71 [[ 9.63169332e-01 2.64251010e-01 4.97618443e-02 1.04904446e+02] [-2.63923389e-01 9.64453833e-01 -1.31623953e-02 -1.77857870e+01] [-5.14711777e-02 -4.55699027e-04 9.98674376e-01 -6.70523302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-17.79, Z:-6.70 [[ 9.63615810e-01 2.62645076e-01 4.96199086e-02 1.04929546e+02] [-2.62720506e-01 9.64858434e-01 -5.11252889e-03 -1.77913550e+01] [-4.92189678e-02 -8.10965382e-03 9.98755088e-01 -6.70146169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:104.96, Y:-17.79, Z:-6.70 [[ 9.63578630e-01 2.62912004e-01 4.89234277e-02 1.04958682e+02] [-2.62740346e-01 9.64814521e-01 -1.00225267e-02 -1.77933018e+01] [-4.98370760e-02 -3.19666583e-03 9.98752245e-01 -6.70346912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-17.79, Z:-6.71 [[ 9.63310472e-01 2.63795978e-01 4.94430656e-02 1.04990051e+02] [-2.62937522e-01 9.64532760e-01 -2.32468327e-02 -1.77918241e+01] [-5.38218775e-02 9.39348022e-03 9.98506369e-01 -6.71005392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.02, Y:-17.80, Z:-6.71 [[ 9.63247462e-01 2.63576554e-01 5.17853895e-02 1.05016108e+02] [-2.63220704e-01 9.64638383e-01 -1.36985658e-02 -1.78019343e+01] [-5.35647952e-02 -4.35877923e-04 9.98564281e-01 -6.71318998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:-17.81, Z:-6.71 [[ 9.62990358e-01 2.64833609e-01 5.01271376e-02 1.05043139e+02] [-2.64887007e-01 9.64262635e-01 -5.69591148e-03 -1.78058773e+01] [-4.98441946e-02 -7.79291961e-03 9.98726603e-01 -6.70980754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.07, Y:-17.80, Z:-6.72 [[ 9.62754695e-01 2.65286762e-01 5.22142828e-02 1.05074866e+02] [-2.64802557e-01 9.64168088e-01 -1.61090890e-02 -1.78042394e+01] [-5.46168733e-02 1.68262549e-03 9.98505967e-01 -6.71902412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:-17.81, Z:-6.72 [[ 9.62548411e-01 2.66482227e-01 4.98776353e-02 1.05102789e+02] [-2.65862490e-01 9.63827729e-01 -1.87948339e-02 -1.78061539e+01] [-5.30819371e-02 4.83034515e-03 9.98578478e-01 -6.71754640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:-17.82, Z:-6.72 [[ 9.62568634e-01 2.65730540e-01 5.33751269e-02 1.05130461e+02] [-2.65527607e-01 9.64040638e-01 -1.09881370e-02 -1.78154254e+01] [-5.43756749e-02 -3.59573371e-03 9.98514074e-01 -6.72082477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:-17.81, Z:-6.72 [[ 9.62593448e-01 2.66079058e-01 5.11447762e-02 1.05159186e+02] [-2.65575944e-01 9.63948424e-01 -1.65183126e-02 -1.78149403e+01] [-5.36961035e-02 2.31759725e-03 9.98554634e-01 -6.72226391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.19, Y:-17.82, Z:-6.73 [[ 9.62654204e-01 2.65511119e-01 5.29219094e-02 1.05185729e+02] [-2.65143004e-01 9.64107632e-01 -1.39879362e-02 -1.78204363e+01] [-5.47363693e-02 -5.66328473e-04 9.98500681e-01 -6.72603897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:-17.83, Z:-6.73 [[ 9.62747124e-01 2.64316311e-01 5.70514096e-02 1.05213275e+02] [-2.64329879e-01 9.64403589e-01 -7.44534616e-03 -1.78274125e+01] [-5.69885105e-02 -7.91240660e-03 9.98343480e-01 -6.72698504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-17.82, Z:-6.73 [[ 9.63268816e-01 2.63459501e-01 5.19834607e-02 1.05243068e+02] [-2.62682350e-01 9.64645510e-01 -2.13781149e-02 -1.78195909e+01] [-5.57778794e-02 6.93773381e-03 9.98419098e-01 -6.72726999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:-17.83, Z:-6.73 [[ 9.63843887e-01 2.60845172e-01 5.44495971e-02 1.05268474e+02] [-2.60449175e-01 9.65380592e-01 -1.43714880e-02 -1.78288292e+01] [-5.63133175e-02 -3.29481792e-04 9.98413092e-01 -6.73014429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:-17.83, Z:-6.73 [[ 9.64557029e-01 2.58142745e-01 5.46997419e-02 1.05295903e+02] [-2.57739033e-01 9.66106770e-01 -1.44325708e-02 -1.78348038e+01] [-5.65714544e-02 -1.77221023e-04 9.98398537e-01 -6.73222100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-17.84, Z:-6.73 [[ 9.66111379e-01 2.52323334e-01 5.44218636e-02 1.05323611e+02] [-2.51914706e-01 9.67642966e-01 -1.43551684e-02 -1.78399635e+01] [-5.62830774e-02 1.59023774e-04 9.98414839e-01 -6.73448504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:-17.85, Z:-6.74 [[ 9.66895931e-01 2.49419147e-01 5.38734473e-02 1.05350843e+02] [-2.49014440e-01 9.68395573e-01 -1.42064320e-02 -1.78458599e+01] [-5.57141640e-02 3.20874957e-04 9.98446708e-01 -6.73673497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:-17.85, Z:-6.74 [[ 9.67643755e-01 2.46708121e-01 5.29213121e-02 1.05377738e+02] [-2.46313759e-01 9.69089721e-01 -1.39515413e-02 -1.78513426e+01] [-5.47274581e-02 4.64874476e-04 9.98501221e-01 -6.73891671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:-17.86, Z:-6.74 [[ 9.68308777e-01 2.43661505e-01 5.48377838e-02 1.05404637e+02] [-2.43533960e-01 9.69849690e-01 -9.09890464e-03 -1.78591462e+01] [-5.54014604e-02 -4.54431343e-03 9.98453818e-01 -6.74181385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:-17.86, Z:-6.74 [[ 9.69231861e-01 2.40903767e-01 5.05467628e-02 1.05433030e+02] [-2.40250716e-01 9.70530511e-01 -1.87115300e-02 -1.78586061e+01] [-5.35648535e-02 5.99191512e-03 9.98546395e-01 -6.74298399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:-17.87, Z:-6.75 [[ 9.69531987e-01 2.39375752e-01 5.20286097e-02 1.05459281e+02] [-2.38984864e-01 9.70926634e-01 -1.37005982e-02 -1.78695075e+01] [-5.37955539e-02 8.49117952e-04 9.98551610e-01 -6.74548453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:-17.88, Z:-6.75 [[ 9.69697489e-01 2.38715187e-01 5.19792129e-02 1.05484909e+02] [-2.38324300e-01 9.71089225e-01 -1.36837511e-02 -1.78772038e+01] [-5.37429728e-02 8.81189507e-04 9.98554413e-01 -6.74738139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:-17.88, Z:-6.75 [[ 9.69625138e-01 2.38915782e-01 5.24055460e-02 1.05513022e+02] [-2.38630312e-01 9.71039633e-01 -1.17305136e-02 -1.78847018e+01] [-5.36904670e-02 -1.13135088e-03 9.98556986e-01 -6.74978344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.54, Y:-17.89, Z:-6.75 [[ 9.69528363e-01 2.39633585e-01 5.08969479e-02 1.05540088e+02] [-2.39154177e-01 9.70859485e-01 -1.53993788e-02 -1.78892631e+01] [-5.31039930e-02 2.75791685e-03 9.98585179e-01 -6.75398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:-17.90, Z:-6.75 [[ 9.69543328e-01 2.39477338e-01 5.13452901e-02 1.05566097e+02] [-2.39097623e-01 9.70901610e-01 -1.35051967e-02 -1.78973383e+01] [-5.30854134e-02 8.17336498e-04 9.98589641e-01 -6.75392787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:105.59, Y:-17.90, Z:-6.76 [[ 9.69646514e-01 2.38891866e-01 5.21182765e-02 1.05593017e+02] [-2.38500044e-01 9.71045798e-01 -1.37035715e-02 -1.79044490e+01] [-5.38829052e-02 8.57409031e-04 9.98546893e-01 -6.75850332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:-17.91, Z:-6.76 [[ 9.70130511e-01 2.37013893e-01 5.16837060e-02 1.05619903e+02] [-2.36626124e-01 9.71505796e-01 -1.35854948e-02 -1.79145584e+01] [-5.34309710e-02 9.49987946e-04 9.98571094e-01 -6.75812064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.65, Y:-17.92, Z:-6.76 [[ 9.70427396e-01 2.35708684e-01 5.20776819e-02 1.05646348e+02] [-2.35313309e-01 9.71823216e-01 -1.36851318e-02 -1.79239570e+01] [-5.38360048e-02 1.02585513e-03 9.98549264e-01 -6.76140649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:-17.93, Z:-6.76 [[ 9.70767429e-01 2.34263044e-01 5.22630319e-02 1.05673254e+02] [-2.33862974e-01 9.72172620e-01 -1.37297698e-02 -1.79324578e+01] [-5.40250663e-02 1.10602529e-03 9.98538967e-01 -6.76153135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.70, Y:-17.94, Z:-6.76 [[ 9.71313449e-01 2.31876244e-01 5.27597541e-02 1.05699099e+02] [-2.31465244e-01 9.72744496e-01 -1.38559204e-02 -1.79413996e+01] [-5.45346192e-02 1.24639243e-03 9.98511103e-01 -6.76493582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:-17.95, Z:-6.76 [[ 9.71448622e-01 2.31210047e-01 5.31929338e-02 1.05725700e+02] [-2.30791481e-01 9.72903001e-01 -1.39657948e-02 -1.79508858e+01] [-5.49805969e-02 1.29057615e-03 9.98486589e-01 -6.76496835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-17.96, Z:-6.77 [[ 9.71672833e-01 2.30336979e-01 5.28846127e-02 1.05750816e+02] [-2.29922150e-01 9.73110020e-01 -1.38814436e-02 -1.79627600e+01] [-5.46599563e-02 1.32887779e-03 9.98504143e-01 -6.76722611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-17.97, Z:-6.77 [[ 9.71673942e-01 2.30463281e-01 5.23108583e-02 1.05776981e+02] [-2.30057760e-01 9.73080148e-01 -1.37277992e-02 -1.79711635e+01] [-5.40664114e-02 1.30442592e-03 9.98536490e-01 -6.76911342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:-17.98, Z:-6.77 [[ 9.71596467e-01 2.30846153e-01 5.20611106e-02 1.05804941e+02] [-2.30445268e-01 9.72989431e-01 -1.36581543e-02 -1.79798446e+01] [-5.38078427e-02 1.27297784e-03 9.98550497e-01 -6.77125197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:-17.99, Z:-6.77 [[ 9.71408008e-01 2.31603048e-01 5.22160008e-02 1.05832642e+02] [-2.31201008e-01 9.72809596e-01 -1.36961171e-02 -1.79893053e+01] [-5.39682891e-02 1.23212581e-03 9.98541890e-01 -6.77374653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:-18.00, Z:-6.78 [[ 9.70797019e-01 2.34000712e-01 5.28849229e-02 1.05858258e+02] [-2.33591992e-01 9.72235791e-01 -1.38689356e-02 -1.80016059e+01] [-5.46619557e-02 1.11042681e-03 9.98504300e-01 -6.77500947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.89, Y:-18.01, Z:-6.78 [[ 9.70395226e-01 2.35656259e-01 5.29077870e-02 1.05885068e+02] [-2.35249838e-01 9.71835942e-01 -1.38713659e-02 -1.80108213e+01] [-5.46865633e-02 1.01415895e-03 9.98503055e-01 -6.77869242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:-18.02, Z:-6.78 [[ 9.69897820e-01 2.37764709e-01 5.25943139e-02 1.05912247e+02] [-2.37366335e-01 9.71322375e-01 -1.37864842e-02 -1.80197313e+01] [-5.43639733e-02 8.87361411e-04 9.98520791e-01 -6.77826887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.94, Y:-18.03, Z:-6.78 [[ 9.68933726e-01 2.41871000e-01 5.16319158e-02 1.05939328e+02] [-2.41493051e-01 9.70308202e-01 -1.35314275e-02 -1.80296826e+01] [-5.33717313e-02 6.42307556e-04 9.98574507e-01 -6.78164711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.97, Y:-18.04, Z:-6.78 [[ 9.68500552e-01 2.43726078e-01 5.10321371e-02 1.05967154e+02] [-2.43359531e-01 9.69843965e-01 -1.33724552e-02 -1.80381476e+01] [-5.27524262e-02 5.32073285e-04 9.98607480e-01 -6.78425171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:-18.05, Z:-6.79 [[ 9.68093157e-01 2.45361818e-01 5.09236421e-02 1.05994474e+02] [-2.44999230e-01 9.69431475e-01 -1.33413583e-02 -1.80462626e+01] [-5.26404414e-02 4.39424523e-04 9.98613434e-01 -6.78568046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:-18.05, Z:-6.79 [[ 9.67714295e-01 2.46764807e-01 5.13436875e-02 1.06021192e+02] [-2.46398314e-01 9.69075331e-01 -1.34489133e-02 -1.80538975e+01] [-5.30746194e-02 3.63707655e-04 9.98590483e-01 -6.78743574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-18.07, Z:-6.79 [[ 9.67030831e-01 2.48404468e-01 5.60944894e-02 1.06046970e+02] [-2.48400583e-01 9.68630985e-01 -7.15297191e-03 -1.80672617e+01] [-5.61116907e-02 -7.01675948e-03 9.98399841e-01 -6.78962238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:-18.07, Z:-6.79 [[ 9.66707735e-01 2.50738517e-01 5.10524434e-02 1.06075814e+02] [-2.49976559e-01 9.68026216e-01 -2.09037065e-02 -1.80678560e+01] [-5.46614680e-02 7.44586065e-03 9.98477182e-01 -6.79018741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:-18.08, Z:-6.79 [[ 9.66522188e-01 2.51072493e-01 5.28910485e-02 1.06101910e+02] [-2.50690640e-01 9.67968279e-01 -1.38424782e-02 -1.80793037e+01] [-5.46723227e-02 1.19771559e-04 9.98504343e-01 -6.79200499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:-18.09, Z:-6.79 [[ 9.66053766e-01 2.52845091e-01 5.30045426e-02 1.06128252e+02] [-2.52464450e-01 9.67506775e-01 -1.38687279e-02 -1.80878900e+01] [-5.47888938e-02 1.61741344e-05 9.98497960e-01 -6.79409693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:-18.10, Z:-6.80 [[ 9.65891013e-01 2.53441105e-01 5.31239790e-02 1.06155606e+02] [-2.53059840e-01 9.67350818e-01 -1.38964545e-02 -1.80966648e+01] [-5.49114574e-02 -2.10851103e-05 9.98491228e-01 -6.79664821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:-18.10, Z:-6.80 [[ 9.65712202e-01 2.54107333e-01 5.31921560e-02 1.06182135e+02] [-2.53726244e-01 9.67176023e-01 -1.39116444e-02 -1.81040484e+01] [-5.49812288e-02 -6.16012324e-05 9.98487386e-01 -6.79829508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:-18.11, Z:-6.80 [[ 9.65543868e-01 2.54701180e-01 5.34073750e-02 1.06209108e+02] [-2.54318100e-01 9.67019803e-01 -1.39644256e-02 -1.81103247e+01] [-5.52027449e-02 -9.91966506e-05 9.98475161e-01 -6.79966487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:-18.12, Z:-6.80 [[ 9.65504088e-01 2.54814979e-01 5.35834119e-02 1.06236138e+02] [-2.54429724e-01 9.66989821e-01 -1.40071788e-02 -1.81176654e+01] [-5.53838529e-02 -1.09224327e-04 9.98465131e-01 -6.80184067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-18.13, Z:-6.81 [[ 9.65652856e-01 2.53103594e-01 5.87633628e-02 1.06262653e+02] [-2.53310993e-01 9.67376562e-01 -4.01613415e-03 -1.81318700e+01] [-5.78627978e-02 -1.10072143e-02 9.98263862e-01 -6.80544942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:106.29, Y:-18.13, Z:-6.81 [[ 9.65875366e-01 2.54066006e-01 5.03511859e-02 1.06292580e+02] [-2.53130176e-01 9.67127722e-01 -2.42710580e-02 -1.81277289e+01] [-5.48624784e-02 1.06974125e-02 9.98436615e-01 -6.80820794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:-18.14, Z:-6.81 [[ 9.66286103e-01 2.52045480e-01 5.25760694e-02 1.06319215e+02] [-2.51670905e-01 9.67715389e-01 -1.37361225e-02 -1.81410343e+01] [-5.43407990e-02 4.11572738e-05 9.98522446e-01 -6.80823826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:-18.15, Z:-6.81 [[ 9.67162106e-01 2.48886276e-01 5.15080843e-02 1.06345586e+02] [-2.48449638e-01 9.68531504e-01 -1.48156243e-02 -1.81489992e+01] [-5.35746079e-02 1.53194553e-03 9.98562674e-01 -6.81038969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.37, Y:-18.16, Z:-6.81 [[ 9.67402733e-01 2.47736804e-01 5.25207440e-02 1.06371014e+02] [-2.47429367e-01 9.68826836e-01 -1.23802138e-02 -1.81591857e+01] [-5.39505409e-02 -1.01852174e-03 9.98543090e-01 -6.81340290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.40, Y:-18.17, Z:-6.82 [[ 9.67413309e-01 2.47764329e-01 5.21950789e-02 1.06398743e+02] [-2.47389407e-01 9.68820295e-01 -1.36278158e-02 -1.81655245e+01] [-5.39441384e-02 2.71220761e-04 9.98543918e-01 -6.81530719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:-18.17, Z:-6.81 [[ 9.67729184e-01 2.46460853e-01 5.25097517e-02 1.06426461e+02] [-2.46079662e-01 9.69152687e-01 -1.37065550e-02 -1.81737936e+01] [-5.42680962e-02 3.42651308e-04 9.98526342e-01 -6.81491706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:-18.18, Z:-6.82 [[ 9.67972860e-01 2.45481769e-01 5.26045912e-02 1.06453206e+02] [-2.45097894e-01 9.69401127e-01 -1.37287415e-02 -1.81804645e+01] [-5.43651057e-02 3.95774714e-04 9.98521046e-01 -6.81650996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:-18.19, Z:-6.82 [[ 9.68054179e-01 2.45210634e-01 5.23722450e-02 1.06480953e+02] [-2.44829937e-01 9.69469742e-01 -1.36646085e-02 -1.81883522e+01] [-5.41240142e-02 4.05787954e-04 9.98534139e-01 -6.81843721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.51, Y:-18.20, Z:-6.82 [[ 9.68013056e-01 2.45420782e-01 5.21475196e-02 1.06506480e+02] [-2.45043787e-01 9.69416571e-01 -1.36034706e-02 -1.81985437e+01] [-5.38912440e-02 3.89911434e-04 9.98546735e-01 -6.82164319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-18.21, Z:-6.82 [[ 9.68003653e-01 2.45339435e-01 5.27018963e-02 1.06534773e+02] [-2.44954449e-01 9.69437159e-01 -1.37445378e-02 -1.82064630e+01] [-5.44632537e-02 3.95198808e-04 9.98515697e-01 -6.82151110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.56, Y:-18.21, Z:-6.82 [[ 9.67979444e-01 2.45561634e-01 5.21083491e-02 1.06561778e+02] [-2.45185733e-01 9.69380907e-01 -1.35872655e-02 -1.82141155e+01] [-5.38493498e-02 3.75969890e-04 9.98549000e-01 -6.82490472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.59, Y:-18.22, Z:-6.83 [[ 9.67947568e-01 2.45755681e-01 5.17846528e-02 1.06589153e+02] [-2.45384914e-01 9.69331737e-01 -1.34991881e-02 -1.82247420e+01] [-5.35140096e-02 3.59333754e-04 9.98567034e-01 -6.82583349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:-18.23, Z:-6.83 [[ 9.67974571e-01 2.45690879e-01 5.15870294e-02 1.06617585e+02] [-2.45323009e-01 9.69348164e-01 -1.34446285e-02 -1.82342476e+01] [-5.33090149e-02 3.58573258e-04 9.98577999e-01 -6.82723561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:-18.24, Z:-6.83 [[ 9.67921097e-01 2.45971094e-01 5.12539782e-02 1.06645389e+02] [-2.45608415e-01 9.69277105e-01 -1.33566728e-02 -1.82429869e+01] [-5.29646630e-02 3.39797048e-04 9.98596329e-01 -6.82897868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.67, Y:-18.25, Z:-6.83 [[ 9.67874758e-01 2.46328243e-01 5.04068442e-02 1.06672740e+02] [-2.45978038e-01 9.69186411e-01 -1.31341515e-02 -1.82503895e+01] [-5.20889409e-02 3.13237058e-04 9.98642401e-01 -6.83270819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:-18.26, Z:-6.83 [[ 9.67388893e-01 2.48204058e-01 5.05319204e-02 1.06699664e+02] [-2.47854801e-01 9.68707748e-01 -1.31642053e-02 -1.82611112e+01] [-5.22180720e-02 2.10326876e-04 9.98635684e-01 -6.83306406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:106.73, Y:-18.27, Z:-6.84 [[ 9.67003240e-01 2.49700520e-01 5.05409193e-02 1.06726693e+02] [-2.49353317e-01 9.68323104e-01 -1.31639303e-02 -1.82696433e+01] [-5.22269801e-02 1.27017395e-04 9.98635232e-01 -6.83600486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-18.28, Z:-6.84 [[ 9.66493856e-01 2.51536196e-01 5.11778063e-02 1.06753579e+02] [-2.51182888e-01 9.67847892e-01 -1.33272498e-02 -1.82780624e+01] [-5.28846177e-02 2.57159192e-05 9.98600629e-01 -6.83560433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-18.29, Z:-6.84 [[ 9.65505161e-01 2.55276258e-01 5.13207257e-02 1.06780757e+02] [-2.54926434e-01 9.66868139e-01 -1.33609376e-02 -1.82871729e+01] [-5.30311047e-02 -1.82955340e-04 9.98592844e-01 -6.83671616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.81, Y:-18.30, Z:-6.84 [[ 9.65020926e-01 2.57041483e-01 5.16167403e-02 1.06807140e+02] [-2.56690268e-01 9.66400329e-01 -1.34354354e-02 -1.82954480e+01] [-5.33358990e-02 -2.84038608e-04 9.98576588e-01 -6.84087747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:-18.30, Z:-6.84 [[ 9.64640682e-01 2.58453456e-01 5.16736407e-02 1.06834480e+02] [-2.58103680e-01 9.66023642e-01 -1.34466810e-02 -1.83039716e+01] [-5.33932998e-02 -3.65941292e-04 9.98573493e-01 -6.84022889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:-18.31, Z:-6.84 [[ 9.64025243e-01 2.60670512e-01 5.20212909e-02 1.06861725e+02] [-2.60319372e-01 9.65427698e-01 -1.35345711e-02 -1.83102047e+01] [-5.37508587e-02 -4.94481557e-04 9.98554255e-01 -6.84181098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:-18.32, Z:-6.84 [[ 9.63753950e-01 2.61531678e-01 5.27210195e-02 1.06889590e+02] [-2.61172508e-01 9.65194734e-01 -1.37129706e-02 -1.83171144e+01] [-5.44724266e-02 -5.53351316e-04 9.98515122e-01 -6.84401115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.92, Y:-18.32, Z:-6.85 [[ 9.63530985e-01 2.62432300e-01 5.23194944e-02 1.06916448e+02] [-2.62080046e-01 9.64950219e-01 -1.36060316e-02 -1.83239733e+01] [-5.40563697e-02 -6.02062470e-04 9.98537704e-01 -6.84798002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-18.33, Z:-6.85 [[ 9.63205633e-01 2.63668395e-01 5.20949736e-02 1.06943910e+02] [-2.63321150e-01 9.64613148e-01 -1.35442186e-02 -1.83315800e+01] [-5.38226789e-02 -6.71840741e-04 9.98550283e-01 -6.84803077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-18.34, Z:-6.85 [[ 9.62820784e-01 2.64505190e-01 5.48920902e-02 1.06970635e+02] [-2.64848612e-01 9.64289429e-01 -1.05315386e-03 -1.83448433e+01] [-5.32104270e-02 -1.35240955e-02 9.98491737e-01 -6.84702262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-18.34, Z:-6.85 [[ 9.62385622e-01 2.67468021e-01 4.76945755e-02 1.07000543e+02] [-2.66502176e-01 9.63491822e-01 -2.56923997e-02 -1.83375295e+01] [-5.28252288e-02 1.20152879e-02 9.98531486e-01 -6.85257212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.03, Y:-18.35, Z:-6.85 [[ 9.62319261e-01 2.67146651e-01 5.07376282e-02 1.07025638e+02] [-2.66822189e-01 9.63655515e-01 -1.31896627e-02 -1.83501957e+01] [-5.24171695e-02 -8.45258569e-04 9.98624918e-01 -6.85491523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:-18.36, Z:-6.86 [[ 9.62258363e-01 2.67195086e-01 5.16297245e-02 1.07052573e+02] [-2.66859400e-01 9.63642068e-01 -1.34173821e-02 -1.83567372e+01] [-5.33376331e-02 -8.66889156e-04 9.98576159e-01 -6.85549273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:-18.36, Z:-6.86 [[ 9.62365925e-01 2.66829783e-01 5.15140171e-02 1.07080446e+02] [-2.66495258e-01 9.63743300e-01 -1.33839307e-02 -1.83633992e+01] [-5.32175202e-02 -8.48002435e-04 9.98582584e-01 -6.85692102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:-18.37, Z:-6.86 [[ 9.62868487e-01 2.65207706e-01 5.04891044e-02 1.07108598e+02] [-2.64884273e-01 9.64191017e-01 -1.31150912e-02 -1.83691549e+01] [-5.21593641e-02 -7.45661715e-04 9.98638496e-01 -6.85913469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.14, Y:-18.38, Z:-6.86 [[ 9.63197028e-01 2.64032164e-01 5.03835414e-02 1.07136183e+02] [-2.63708611e-01 9.64513634e-01 -1.30850618e-02 -1.83752288e+01] [-5.20504897e-02 -6.83081043e-04 9.98644221e-01 -6.86328149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:-18.38, Z:-6.86 [[ 9.63408580e-01 2.63164542e-01 5.08756607e-02 1.07163031e+02] [-2.62833556e-01 9.64750749e-01 -1.32103613e-02 -1.83821676e+01] [-5.25588304e-02 -6.44855353e-04 9.98617621e-01 -6.86333071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:-18.39, Z:-6.87 [[ 9.63646468e-01 2.62256751e-01 5.10576378e-02 1.07190557e+02] [-2.61922304e-01 9.64997946e-01 -1.32540929e-02 -1.83888625e+01] [-5.27464910e-02 -6.00874327e-04 9.98607754e-01 -6.86517905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:-18.39, Z:-6.87 [[ 9.64021161e-01 2.60829485e-01 5.12950376e-02 1.07218835e+02] [-2.60490038e-01 9.65384743e-01 -1.33131064e-02 -1.83949632e+01] [-5.29918973e-02 -5.27730037e-04 9.98594803e-01 -6.86745059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:-18.40, Z:-6.87 [[ 9.64089291e-01 2.60627454e-01 5.10408593e-02 1.07246220e+02] [-2.60291219e-01 9.65439311e-01 -1.32445402e-02 -1.84021567e+01] [-5.27287428e-02 -5.16568110e-04 9.98608739e-01 -6.86971532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:-18.41, Z:-6.87 [[ 9.64218302e-01 2.60191748e-01 5.08263749e-02 1.07273036e+02] [-2.59857860e-01 9.65556840e-01 -1.31864215e-02 -1.84080813e+01] [-5.25067520e-02 -4.93044038e-04 9.98620447e-01 -6.87141444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.30, Y:-18.41, Z:-6.87 [[ 9.64356112e-01 2.59975375e-01 4.92959845e-02 1.07301866e+02] [-2.59661186e-01 9.65615132e-01 -1.27861129e-02 -1.84108577e+01] [-5.09250231e-02 -4.69887696e-04 9.98702369e-01 -6.87491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:-18.42, Z:-6.88 [[ 9.64361409e-01 2.60031431e-01 4.88950657e-02 1.07329394e+02] [-2.59722525e-01 9.65600038e-01 -1.26798003e-02 -1.84164328e+01] [-5.05102239e-02 -4.71239878e-04 9.98723433e-01 -6.87592952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:-18.42, Z:-6.88 [[ 9.64370007e-01 2.60111827e-01 4.82941620e-02 1.07356287e+02] [-2.59810716e-01 9.65578383e-01 -1.25210813e-02 -1.84222427e+01] [-4.98886802e-02 -4.72385574e-04 9.98754673e-01 -6.87823188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-18.43, Z:-6.88 [[ 9.64426035e-01 2.60000098e-01 4.77741714e-02 1.07383371e+02] [-2.59705481e-01 9.65608478e-01 -1.23826543e-02 -1.84282177e+01] [-4.93506363e-02 -4.65060008e-04 9.98781407e-01 -6.88024021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:-18.43, Z:-6.88 [[ 9.64617224e-01 2.59128443e-01 4.86421754e-02 1.07410297e+02] [-2.58822115e-01 9.65842774e-01 -1.26035482e-02 -1.84334073e+01] [-5.02466314e-02 -4.32071054e-04 9.98736747e-01 -6.88211534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:-18.44, Z:-6.88 [[ 9.64750549e-01 2.58399590e-01 4.98601143e-02 1.07436405e+02] [-2.58076900e-01 9.66038036e-01 -1.29161541e-02 -1.84395036e+01] [-5.15042958e-02 -4.06876987e-04 9.98672690e-01 -6.88383849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:-18.45, Z:-6.88 [[ 9.64954446e-01 2.57508421e-01 5.05205966e-02 1.07464146e+02] [-2.57176144e-01 9.66275984e-01 -1.30825643e-02 -1.84454935e+01] [-5.21857097e-02 -3.68613683e-04 9.98637329e-01 -6.88416309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-18.45, Z:-6.89 [[ 9.65772659e-01 2.54483648e-01 5.02119841e-02 1.07491974e+02] [-2.54151527e-01 9.67077055e-01 -1.29989013e-02 -1.84502948e+01] [-5.18668655e-02 -2.07468940e-04 9.98653987e-01 -6.88581105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.52, Y:-18.46, Z:-6.89 [[ 9.66354283e-01 2.52422160e-01 4.94211826e-02 1.07519659e+02] [-2.52097942e-01 9.67617199e-01 -1.27900041e-02 -1.84568744e+01] [-5.10492667e-02 -9.93031466e-05 9.98696131e-01 -6.88931171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:-18.46, Z:-6.89 [[ 9.66803585e-01 2.50656424e-01 4.96204049e-02 1.07546995e+02] [-2.50327394e-01 9.68076111e-01 -1.28389561e-02 -1.84645548e+01] [-5.12544954e-02 -8.59781819e-06 9.98685625e-01 -6.89013327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:107.58, Y:-18.47, Z:-6.89 [[ 9.67846531e-01 2.46598827e-01 4.96196588e-02 1.07575136e+02] [-2.46264605e-01 9.69117628e-01 -1.28361718e-02 -1.84720237e+01] [-5.12526710e-02 2.03878688e-04 9.98685697e-01 -6.89389440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.60, Y:-18.48, Z:-6.90 [[ 9.68232049e-01 2.45060080e-01 4.97217838e-02 1.07603317e+02] [-2.44722585e-01 9.69507853e-01 -1.28599983e-02 -1.84789739e+01] [-5.13571321e-02 2.83419045e-04 9.98680312e-01 -6.89540930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:-18.49, Z:-6.90 [[ 9.68727980e-01 2.43127573e-01 4.95488148e-02 1.07630936e+02] [-2.42790027e-01 9.69994246e-01 -1.28127032e-02 -1.84868999e+01] [-5.11771867e-02 3.82065961e-04 9.98689516e-01 -6.89660512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:-18.49, Z:-6.90 [[ 9.68939068e-01 2.42343554e-01 4.92613952e-02 1.07658788e+02] [-2.42009031e-01 9.70190408e-01 -1.27358611e-02 -1.84947670e+01] [-5.08793869e-02 4.18570898e-04 9.98704718e-01 -6.89876753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:-18.50, Z:-6.90 [[ 9.69084157e-01 2.41790472e-01 4.91249887e-02 1.07685777e+02] [-2.41457205e-01 9.70328383e-01 -1.26983374e-02 -1.85019695e+01] [-5.07377078e-02 4.44175099e-04 9.98711914e-01 -6.90040962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:-18.51, Z:-6.90 [[ 9.68961043e-01 2.42328414e-01 4.89023227e-02 1.07713658e+02] [-2.41999025e-01 9.70194193e-01 -1.26372762e-02 -1.85092571e+01] [-5.05071206e-02 4.10713947e-04 9.98723616e-01 -6.90275314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:-18.52, Z:-6.90 [[ 9.68818239e-01 2.42989231e-01 4.84505150e-02 1.07740041e+02] [-2.42666838e-01 9.70028915e-01 -1.25183730e-02 -1.85170053e+01] [-5.00402304e-02 3.70694821e-04 9.98747134e-01 -6.90446264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:-18.53, Z:-6.91 [[ 9.68542404e-01 2.43980230e-01 4.89822216e-02 1.07767637e+02] [-2.43652167e-01 9.69780153e-01 -1.26521396e-02 -1.85256208e+01] [-5.05888583e-02 3.19509288e-04 9.98719513e-01 -6.90606674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:-18.53, Z:-6.91 [[ 9.68143988e-01 2.45474407e-01 4.93916330e-02 1.07795968e+02] [-2.45142902e-01 9.69403042e-01 -1.27553861e-02 -1.85330615e+01] [-5.10115201e-02 2.41042141e-04 9.98698036e-01 -6.90741328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-18.54, Z:-6.91 [[ 9.67047774e-01 2.49686067e-01 4.97541091e-02 1.07822922e+02] [-2.49355351e-01 9.68326839e-01 -1.28468436e-02 -1.85379570e+01] [-5.13859171e-02 1.70581399e-05 9.98678871e-01 -6.90869395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-18.55, Z:-6.91 [[ 9.66461831e-01 2.51889978e-01 5.00296764e-02 1.07849681e+02] [-2.51558730e-01 9.67755872e-01 -1.29142218e-02 -1.85457444e+01] [-5.16694762e-02 -1.04299455e-04 9.98664235e-01 -6.91061989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:-18.55, Z:-6.91 [[ 9.65879913e-01 2.54037390e-01 5.04083085e-02 1.07875785e+02] [-2.53704237e-01 9.67194372e-01 -1.30079346e-02 -1.85541086e+01] [-5.20591341e-02 -2.24698745e-04 9.98643979e-01 -6.91227379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:-18.56, Z:-6.91 [[ 9.65256305e-01 2.56358031e-01 5.06046022e-02 1.07902820e+02] [-2.56025618e-01 9.66581830e-01 -1.30555918e-02 -1.85612218e+01] [-5.22603948e-02 -3.54082298e-04 9.98633429e-01 -6.91356940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:-18.57, Z:-6.92 [[ 9.64025289e-01 2.61011091e-01 5.02837183e-02 1.07929937e+02] [-2.60689390e-01 9.65335612e-01 -1.29691399e-02 -1.85659627e+01] [-5.19257533e-02 -6.05853073e-04 9.98650764e-01 -6.91577775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:-18.57, Z:-6.92 [[ 9.63499339e-01 2.62945425e-01 5.02864521e-02 1.07956592e+02] [-2.62626535e-01 9.64810444e-01 -1.29657039e-02 -1.85731653e+01] [-5.19261667e-02 -7.14109574e-04 9.98650671e-01 -6.91785295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:-18.58, Z:-6.92 [[ 9.62311344e-01 2.67141226e-01 5.09160339e-02 1.07982575e+02] [-2.66820317e-01 9.63656917e-01 -1.31249753e-02 -1.85805006e+01] [-5.25718102e-02 -9.55119695e-04 9.98616689e-01 -6.91929828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:-18.59, Z:-6.92 [[ 9.61764261e-01 2.69092321e-01 5.09787110e-02 1.08009584e+02] [-2.68773603e-01 9.63113796e-01 -1.31364770e-02 -1.85864199e+01] [-5.26332249e-02 -1.06753777e-03 9.98613341e-01 -6.92102111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:-18.59, Z:-6.92 [[ 9.61288940e-01 2.70875824e-01 5.04961495e-02 1.08037286e+02] [-2.70565767e-01 9.62613602e-01 -1.30083893e-02 -1.85918814e+01] [-5.21319386e-02 -1.15770869e-03 9.98639535e-01 -6.92269998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:-18.60, Z:-6.93 [[ 9.60678550e-01 2.73127234e-01 4.99823747e-02 1.08064709e+02] [-2.72826689e-01 9.61977079e-01 -1.28723391e-02 -1.85966090e+01] [-5.15976852e-02 -1.27034574e-03 9.98667144e-01 -6.92529618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:-18.60, Z:-6.93 [[ 9.60446237e-01 2.73980378e-01 4.97772801e-02 1.08092371e+02] [-2.73683632e-01 9.61734384e-01 -1.28157958e-02 -1.86027198e+01] [-5.13837984e-02 -1.31434396e-03 9.98678115e-01 -6.92718707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:-18.61, Z:-6.93 [[ 9.60478423e-01 2.73867393e-01 4.97780040e-02 1.08119939e+02] [-2.73570641e-01 9.61766568e-01 -1.28129839e-02 -1.86096531e+01] [-5.13838785e-02 -1.31120590e-03 9.98678115e-01 -6.92909348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:108.15, Y:-18.62, Z:-6.93 [[ 9.60353961e-01 2.74365643e-01 4.94344289e-02 1.08147401e+02] [-2.74073986e-01 9.61624517e-01 -1.27176626e-02 -1.86153312e+01] [-5.10266485e-02 -1.33523335e-03 9.98696399e-01 -6.93289123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:108.17, Y:-18.62, Z:-6.93 [[ 9.60208273e-01 2.74843314e-01 4.96107389e-02 1.08174320e+02] [-2.74550397e-01 9.61488054e-01 -1.27593486e-02 -1.86206082e+01] [-5.12069545e-02 -1.36901595e-03 9.98687125e-01 -6.93480223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.20, Y:-18.62, Z:-6.94 [[ 9.60165002e-01 2.74682195e-01 5.13114053e-02 1.08202532e+02] [-2.74368876e-01 9.61534034e-01 -1.31917370e-02 -1.86233259e+01] [-5.29611978e-02 -1.41200839e-03 9.98595573e-01 -6.93671417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.23, Y:-18.63, Z:-6.94 [[ 9.60411397e-01 2.73656492e-01 5.21734856e-02 1.08228986e+02] [-2.73331249e-01 9.61826499e-01 -1.34094771e-02 -1.86280617e+01] [-5.38514315e-02 -1.38202930e-03 9.98548003e-01 -6.93895009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:108.26, Y:-18.63, Z:-6.94 [[ 9.60807781e-01 2.72288206e-01 5.20340330e-02 1.08255212e+02] [-2.71962945e-01 9.62214855e-01 -1.33689898e-02 -1.86329328e+01] [-5.37081378e-02 -1.30629938e-03 9.98555822e-01 -6.94009399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:-18.64, Z:-6.94 [[ 9.62100890e-01 2.67988372e-01 5.04391765e-02 1.08283780e+02] [-2.67677065e-01 9.63421588e-01 -1.29550227e-02 -1.86355172e+01] [-5.20659869e-02 -1.03737186e-03 9.98643108e-01 -6.94121231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:-18.64, Z:-6.94 [[ 9.62931804e-01 2.65128629e-01 4.96905511e-02 1.08311729e+02] [-2.64822877e-01 9.64212657e-01 -1.27591545e-02 -1.86402492e+01] [-5.12950755e-02 -8.72999054e-04 9.98683160e-01 -6.94332496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-18.65, Z:-6.95 [[ 9.63717248e-01 2.62295544e-01 4.94986158e-02 1.08337787e+02] [-2.61988575e-01 9.64987319e-01 -1.27067243e-02 -1.86458313e+01] [-5.10984537e-02 -7.22382461e-04 9.98693359e-01 -6.94545659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69264000000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:108.36, Y:-18.65, Z:-6.95 [[ 9.65329920e-01 2.56392610e-01 4.89997405e-02 1.08364656e+02] [-2.56084533e-01 9.66572635e-01 -1.25718797e-02 -1.86512334e+01] [-5.05851454e-02 -4.12064053e-04 9.98719667e-01 -6.94936801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:-18.66, Z:-6.95 [[ 9.66179891e-01 2.53188673e-01 4.89071919e-02 1.08392528e+02] [-2.52877846e-01 9.67416888e-01 -1.25443250e-02 -1.86556824e+01] [-5.04897244e-02 -2.47470761e-04 9.98724550e-01 -6.94960297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:-18.66, Z:-6.95 [[ 9.66944755e-01 2.50194351e-01 4.91998843e-02 1.08418922e+02] [-2.49876104e-01 9.68195630e-01 -1.26156580e-02 -1.86601317e+01] [-5.07914793e-02 -9.52310482e-05 9.98709275e-01 -6.95116410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:-18.67, Z:-6.95 [[ 9.68361909e-01 2.44714244e-01 4.88891838e-02 1.08445788e+02] [-2.44393254e-01 9.69595227e-01 -1.25313043e-02 -1.86669298e+01] [-5.04693079e-02 1.86651051e-04 9.98725595e-01 -6.95299567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:-18.67, Z:-6.95 [[ 9.69021848e-01 2.42180619e-01 4.84273219e-02 1.08473082e+02] [-2.41862700e-01 9.70231133e-01 -1.24090321e-02 -1.86737655e+01] [-4.99909224e-02 3.11860403e-04 9.98749623e-01 -6.95425263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:-18.68, Z:-6.96 [[ 9.69545435e-01 2.40064397e-01 4.84843680e-02 1.08501080e+02] [-2.39743224e-01 9.70756875e-01 -1.24208188e-02 -1.86790370e+01] [-5.00483299e-02 4.18749483e-04 9.98746709e-01 -6.95590869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-18.68, Z:-6.96 [[ 9.69875071e-01 2.38676141e-01 4.87447013e-02 1.08528325e+02] [-2.38349960e-01 9.71099099e-01 -1.24834337e-02 -1.86842183e+01] [-5.03154333e-02 4.89073519e-04 9.98733257e-01 -6.95755514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-18.69, Z:-6.96 [[ 9.70350025e-01 2.36528333e-01 4.97511505e-02 1.08555032e+02] [-2.36185847e-01 9.71624400e-01 -1.27385420e-02 -1.86897828e+01] [-5.13524579e-02 6.10326982e-04 9.98680406e-01 -6.95923698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:-18.70, Z:-6.96 [[ 9.70464605e-01 2.35924883e-01 5.03775763e-02 1.08581606e+02] [-2.35573223e-01 9.71771081e-01 -1.28927161e-02 -1.86969379e+01] [-5.19971844e-02 6.44316626e-04 9.98647024e-01 -6.96072010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:-18.70, Z:-6.96 [[ 9.70584086e-01 2.35294002e-01 5.10221974e-02 1.08608952e+02] [-2.34932610e-01 9.71924002e-01 -1.30538396e-02 -1.87033965e+01] [-5.26611884e-02 6.83071000e-04 9.98612203e-01 -6.96233301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:108.64, Y:-18.71, Z:-6.97 [[ 9.70528412e-01 2.35240549e-01 5.23114254e-02 1.08635612e+02] [-2.34860803e-01 9.71936930e-01 -1.33793903e-02 -1.87098340e+01] [-5.39907814e-02 6.99175074e-04 9.98541189e-01 -6.96665621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-18.72, Z:-6.97 [[ 9.70513441e-01 2.35372187e-01 5.19961008e-02 1.08663109e+02] [-2.34997382e-01 9.71905070e-01 -1.32953056e-02 -1.87173194e+01] [-5.36646192e-02 6.84325272e-04 9.98558782e-01 -6.96524910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-18.72, Z:-6.97 [[ 9.70456870e-01 2.35655488e-01 5.17682839e-02 1.08689415e+02] [-2.35284496e-01 9.71836432e-01 -1.32346166e-02 -1.87247651e+01] [-5.34291143e-02 6.63350000e-04 9.98571424e-01 -6.96681111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.72, Y:-18.73, Z:-6.97 [[ 9.70206051e-01 2.36984367e-01 5.03847996e-02 1.08715974e+02] [-2.36634894e-01 9.71513295e-01 -1.28780372e-02 -1.87324761e+01] [-5.20013962e-02 5.71547963e-04 9.98646849e-01 -6.97155348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-18.74, Z:-6.97 [[ 9.70050442e-01 2.37806587e-01 4.94991673e-02 1.08742936e+02] [-2.37470553e-01 9.71312392e-01 -1.26480833e-02 -1.87400190e+01] [-5.10869521e-02 5.14684189e-04 9.98694076e-01 -6.97148099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-18.75, Z:-6.97 [[ 9.69818640e-01 2.38781291e-01 4.93487624e-02 1.08769701e+02] [-2.38448746e-01 9.71073265e-01 -1.26059682e-02 -1.87478837e+01] [-5.09313332e-02 4.58352456e-04 9.98702052e-01 -6.97367338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:108.80, Y:-18.76, Z:-6.98 [[ 9.69128302e-01 2.41381467e-01 5.02525882e-02 1.08796263e+02] [-2.41040310e-01 9.70430256e-01 -1.28330208e-02 -1.87552430e+01] [-5.18642854e-02 3.23944208e-04 9.98654090e-01 -6.97738417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-18.76, Z:-6.98 [[ 9.68698017e-01 2.43065069e-01 5.04333655e-02 1.08822761e+02] [-2.42723917e-01 9.70009958e-01 -1.28756042e-02 -1.87619402e+01] [-5.20504764e-02 2.31188156e-04 9.98644428e-01 -6.97581043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-18.77, Z:-6.98 [[ 9.68256584e-01 2.44698257e-01 5.10093113e-02 1.08850173e+02] [-2.44351768e-01 9.69599269e-01 -1.30180781e-02 -1.87692186e+01] [-5.26440920e-02 1.40624490e-04 9.98613328e-01 -6.97775123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:-18.78, Z:-6.98 [[ 9.67397957e-01 2.48246629e-01 5.01478180e-02 1.08875704e+02] [-2.47916686e-01 9.68696861e-01 -1.27948737e-02 -1.87768171e+01] [-5.17543181e-02 -5.47461458e-05 9.98659846e-01 -6.97998342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.90, Y:-18.78, Z:-6.98 [[ 9.67040785e-01 2.49585322e-01 5.03913396e-02 1.08901441e+02] [-2.49254293e-01 9.68352802e-01 -1.28509933e-02 -1.87828507e+01] [-5.20040142e-02 -1.32823097e-04 9.98646867e-01 -6.98417038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-18.79, Z:-6.98 [[ 9.66693854e-01 2.50930693e-01 5.03664644e-02 1.08928667e+02] [-2.50602052e-01 9.68005033e-01 -1.28400903e-02 -1.87900203e+01] [-5.19769638e-02 -2.09502927e-04 9.98648262e-01 -6.98408745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:-18.80, Z:-6.99 [[ 9.66522082e-01 2.51571953e-01 5.04640206e-02 1.08954532e+02] [-2.51243108e-01 9.67838566e-01 -1.28611910e-02 -1.87970938e+01] [-5.20765403e-02 -2.48112235e-04 9.98643066e-01 -6.98582317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-18.80, Z:-6.99 [[ 9.66544175e-01 2.51541276e-01 5.01930619e-02 1.08981340e+02] [-2.51216157e-01 9.67846540e-01 -1.27874217e-02 -1.88035731e+01] [-5.17957456e-02 -2.49700198e-04 9.98657668e-01 -6.98759777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-18.81, Z:-6.99 [[ 9.66712299e-01 2.50871139e-01 5.03090785e-02 1.09008330e+02] [-2.50543810e-01 9.68020467e-01 -1.28130909e-02 -1.88110320e+01] [-5.19146523e-02 -2.18055649e-04 9.98651501e-01 -6.98994218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:-18.82, Z:-6.99 [[ 9.67390427e-01 2.48417829e-01 4.94403092e-02 1.09033563e+02] [-2.48098691e-01 9.68652969e-01 -1.25883006e-02 -1.88196728e+01] [-5.10176606e-02 -8.82744869e-05 9.98697747e-01 -6.99161979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:-18.83, Z:-6.99 [[ 9.67710164e-01 2.47191004e-01 4.93319902e-02 1.09060455e+02] [-2.46871904e-01 9.68966773e-01 -1.25561210e-02 -1.88271179e+01] [-5.09048195e-02 -2.79963897e-05 9.98703509e-01 -6.99373768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.09, Y:-18.83, Z:-7.00 [[ 9.68182426e-01 2.45442314e-01 4.87940666e-02 1.09086495e+02] [-2.45128093e-01 9.69411196e-01 -1.24157640e-02 -1.88337349e+01] [-5.03488683e-02 5.99279947e-05 9.98731690e-01 -6.99523777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-18.84, Z:-7.00 [[ 9.68849564e-01 2.42794596e-01 4.87986309e-02 1.09112467e+02] [-2.42477183e-01 9.70077701e-01 -1.24124482e-02 -1.88429259e+01] [-5.03521390e-02 1.93240436e-04 9.98731508e-01 -6.99735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-18.85, Z:-7.00 [[ 9.69147821e-01 2.41649087e-01 4.85615083e-02 1.09138978e+02] [-2.41333507e-01 9.70363673e-01 -1.23483177e-02 -1.88510533e+01] [-5.01062832e-02 2.47826075e-04 9.98743861e-01 -6.99905918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:-18.86, Z:-7.00 [[ 9.69364943e-01 2.40823325e-01 4.83294147e-02 1.09166034e+02] [-2.40509869e-01 9.70568928e-01 -1.22865417e-02 -1.88584979e+01] [-4.98659140e-02 2.86441620e-04 9.98755880e-01 -7.00048916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.19, Y:-18.87, Z:-7.01 [[ 9.69621915e-01 2.39664017e-01 4.89336297e-02 1.09193112e+02] [-2.39341398e-01 9.70855828e-01 -1.24360836e-02 -1.88672769e+01] [-5.04879813e-02 3.46455811e-04 9.98724609e-01 -7.00521947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-18.88, Z:-7.00 [[ 9.69673947e-01 2.39066023e-01 5.07924603e-02 1.09215876e+02] [-2.39366269e-01 9.70929327e-01 -1.76752509e-04 -1.88825475e+01] [-4.93581449e-02 -1.19866094e-02 9.98709214e-01 -6.99911840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:-18.88, Z:-7.01 [[ 9.69521704e-01 2.40674346e-01 4.58641952e-02 1.09247272e+02] [-2.39791901e-01 9.70529087e-01 -2.39402658e-02 -1.88783872e+01] [-5.02743433e-02 1.22127447e-02 9.98660773e-01 -7.00532796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:109.27, Y:-18.89, Z:-7.01 [[ 9.69172781e-01 2.41306750e-01 4.97511178e-02 1.09272406e+02] [-2.40975707e-01 9.70448857e-01 -1.26381864e-02 -1.88916231e+01] [-5.13305951e-02 2.59775495e-04 9.98681682e-01 -7.00938597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.30, Y:-18.90, Z:-7.01 [[ 9.68937396e-01 2.42302639e-01 4.94949801e-02 1.09299969e+02] [-2.41976469e-01 9.70200696e-01 -1.25697308e-02 -1.88981678e+01] [-5.10657431e-02 2.02661667e-04 9.98695273e-01 -7.01072363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.33, Y:-18.91, Z:-7.01 [[ 9.68615314e-01 2.43595490e-01 4.94531178e-02 1.09327628e+02] [-2.43271688e-01 9.69876910e-01 -1.25565092e-02 -1.89057579e+01] [-5.10221461e-02 1.31883621e-04 9.98697513e-01 -7.01233934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:-18.91, Z:-7.01 [[ 9.68338027e-01 2.44716499e-01 4.93487606e-02 1.09354330e+02] [-2.44395638e-01 9.69594673e-01 -1.25276408e-02 -1.89134220e+01] [-5.09140158e-02 7.03691142e-05 9.98703038e-01 -7.01187130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:-18.92, Z:-7.01 [[ 9.68008381e-01 2.46003383e-01 4.94177168e-02 1.09381052e+02] [-2.45683467e-01 9.69268970e-01 -1.25418727e-02 -1.89216942e+01] [-5.09844026e-02 -4.78150964e-07 9.98699450e-01 -7.01338134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:-18.93, Z:-7.02 [[ 9.67858746e-01 2.46583547e-01 4.94570756e-02 1.09408762e+02] [-2.46264045e-01 9.69121537e-01 -1.25485873e-02 -1.89294956e+01] [-5.10241923e-02 -3.42395640e-05 9.98697417e-01 -7.01518445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:-18.94, Z:-7.02 [[ 9.67453176e-01 2.48134244e-01 4.96361620e-02 1.09435379e+02] [-2.47814580e-01 9.68725649e-01 -1.25917070e-02 -1.89378581e+01] [-5.12082570e-02 -1.18677671e-04 9.98687989e-01 -7.01651304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:-18.94, Z:-7.02 [[ 9.67123740e-01 2.49379460e-01 4.98152209e-02 1.09463778e+02] [-2.49059327e-01 9.68405829e-01 -1.26333711e-02 -1.89444880e+01] [-5.13918536e-02 -1.88912297e-04 9.98678548e-01 -7.01860907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:-18.95, Z:-7.02 [[ 9.66761135e-01 2.50877528e-01 4.93292414e-02 1.09491610e+02] [-2.50565671e-01 9.68018798e-01 -1.25080078e-02 -1.89502235e+01] [-5.08896110e-02 -2.67958667e-04 9.98704248e-01 -7.02072132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:-18.95, Z:-7.02 [[ 9.65863758e-01 2.54358996e-01 4.90785352e-02 1.09518741e+02] [-2.54054994e-01 9.67109764e-01 -1.24404224e-02 -1.89547722e+01] [-5.06286639e-02 -4.52893852e-04 9.98717444e-01 -7.02245546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.55, Y:-18.96, Z:-7.03 [[ 9.65413195e-01 2.55906321e-01 4.98930676e-02 1.09546076e+02] [-2.55594362e-01 9.66701431e-01 -1.26437990e-02 -1.89605670e+01] [-5.14673280e-02 -5.45896407e-04 9.98674530e-01 -7.02673119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:-18.97, Z:-7.02 [[ 9.65020207e-01 2.56834952e-01 5.26479537e-02 1.09570537e+02] [-2.57103532e-01 9.66382331e-01 -1.72192904e-03 -1.89730393e+01] [-5.13203038e-02 -1.18742785e-02 9.98611650e-01 -7.02317771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:-18.97, Z:-7.03 [[ 9.64562667e-01 2.59831544e-01 4.58958734e-02 1.09600787e+02] [-2.59008776e-01 9.65597498e-01 -2.31500826e-02 -1.89654249e+01] [-5.03320622e-02 1.04422714e-02 9.98677947e-01 -7.02752496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.63, Y:-18.98, Z:-7.03 [[ 9.64456624e-01 2.59627499e-01 4.91628197e-02 1.09626776e+02] [-2.59330163e-01 9.65708550e-01 -1.24444047e-02 -1.89764779e+01] [-5.07078649e-02 -7.47313500e-04 9.98713249e-01 -7.03134841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:-18.98, Z:-7.03 [[ 9.64336196e-01 2.60196707e-01 4.85116029e-02 1.09653369e+02] [-2.59908099e-01 9.65555322e-01 -1.22759864e-02 -1.89816379e+01] [-5.00348076e-02 -7.70380493e-04 9.98747177e-01 -7.03089444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264000000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:109.68, Y:-18.99, Z:-7.04 [[ 9.64357458e-01 2.59996378e-01 4.91586914e-02 1.09680231e+02] [-2.59699993e-01 9.65609281e-01 -1.24350438e-02 -1.89857415e+01] [-5.07011550e-02 -7.74684543e-04 9.98713569e-01 -7.03585510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:-18.99, Z:-7.04 [[ 9.64541457e-01 2.59463911e-01 4.83555291e-02 1.09707857e+02] [-2.59176685e-01 9.65752522e-01 -1.22275309e-02 -1.89892873e+01] [-4.98720771e-02 -7.38665274e-04 9.98755341e-01 -7.03542339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:-18.99, Z:-7.04 [[ 9.64679193e-01 2.58957713e-01 4.83214048e-02 1.09734675e+02] [-2.58670427e-01 9.65888395e-01 -1.22155171e-02 -1.89945101e+01] [-4.98363865e-02 -7.15263272e-04 9.98757139e-01 -7.03713372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-19.00, Z:-7.04 [[ 9.64801637e-01 2.58490005e-01 4.83809703e-02 1.09761877e+02] [-2.58201641e-01 9.66013681e-01 -1.22261924e-02 -1.89999734e+01] [-4.98970277e-02 -6.96195469e-04 9.98754125e-01 -7.03930116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:-19.01, Z:-7.04 [[ 9.65092574e-01 2.56906164e-01 5.09465044e-02 1.09788121e+02] [-2.57136570e-01 9.66372812e-01 -2.09116358e-03 -1.90086897e+01] [-4.97705495e-02 -1.10820429e-02 9.98699194e-01 -7.03896184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:-19.01, Z:-7.04 [[ 9.65052389e-01 2.57528932e-01 4.85050126e-02 1.09816938e+02] [-2.57240469e-01 9.66270336e-01 -1.22057207e-02 -1.90098105e+01] [-5.00122810e-02 -6.98292283e-04 9.98748359e-01 -7.04081862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:-19.01, Z:-7.04 [[ 9.65237996e-01 2.57561531e-01 4.44709906e-02 1.09845575e+02] [-2.56809157e-01 9.66212315e-01 -2.19731360e-02 -1.90085739e+01] [-4.86278533e-02 9.78874809e-03 9.98768998e-01 -7.04414975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-19.02, Z:-7.05 [[ 9.65656137e-01 2.55688085e-01 4.61717279e-02 1.09872402e+02] [-2.55422872e-01 9.66759181e-01 -1.16551891e-02 -1.90168429e+01] [-4.76170348e-02 -5.38410408e-04 9.98865521e-01 -7.04619024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:-19.02, Z:-7.05 [[ 9.65955763e-01 2.54584056e-01 4.60045973e-02 1.09899316e+02] [-2.54319625e-01 9.67050528e-01 -1.16105462e-02 -1.90206256e+01] [-4.74446300e-02 -4.84597939e-04 9.98873752e-01 -7.04801028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:-19.03, Z:-7.05 [[ 9.66266106e-01 2.53379955e-01 4.61347053e-02 1.09926716e+02] [-2.53113021e-01 9.67366740e-01 -1.16356662e-02 -1.90250465e+01] [-4.75774240e-02 -4.34144809e-04 9.98867459e-01 -7.05027986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:-19.03, Z:-7.05 [[ 9.67169029e-01 2.49993954e-01 4.56847063e-02 1.09954554e+02] [-2.49728582e-01 9.68247360e-01 -1.15188743e-02 -1.90299657e+01] [-4.71137452e-02 -2.68078430e-04 9.98889495e-01 -7.05175412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:-19.04, Z:-7.05 [[ 9.67724381e-01 2.47737319e-01 4.62141002e-02 1.09980684e+02] [-2.47463319e-01 9.68827226e-01 -1.16495220e-02 -1.90361743e+01] [-4.76594998e-02 -1.62768175e-04 9.98863627e-01 -7.05346060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:-19.04, Z:-7.06 [[ 9.68325213e-01 2.45201244e-01 4.71447927e-02 1.10007080e+02] [-2.44913420e-01 9.69472201e-01 -1.18772539e-02 -1.90422374e+01] [-4.86178834e-02 -4.53479541e-05 9.98817450e-01 -7.05505644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.03, Y:-19.05, Z:-7.06 [[ 9.69622015e-01 2.39796351e-01 4.82789604e-02 1.10034724e+02] [-2.39488037e-01 9.70823186e-01 -1.21581773e-02 -1.90484077e+01] [-4.97858207e-02 2.26602913e-04 9.98759891e-01 -7.05752435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:-19.06, Z:-7.06 [[ 9.70286260e-01 2.37194591e-01 4.77838871e-02 1.10061933e+02] [-2.36889599e-01 9.71462095e-01 -1.20298182e-02 -1.90550133e+01] [-4.92736429e-02 3.52861480e-04 9.98785254e-01 -7.05708559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.09, Y:-19.06, Z:-7.06 [[ 9.70778212e-01 2.35153753e-01 4.78787670e-02 1.10088647e+02] [-2.34845265e-01 9.71958079e-01 -1.20496821e-02 -1.90613649e+01] [-4.93696823e-02 4.53467121e-04 9.98780471e-01 -7.06039855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-19.07, Z:-7.06 [[ 9.71143781e-01 2.33740028e-01 4.73851789e-02 1.10116065e+02] [-2.33436326e-01 9.72298993e-01 -1.19226617e-02 -1.90684318e+01] [-4.88593650e-02 5.17196740e-04 9.98805534e-01 -7.06046694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:-19.08, Z:-7.06 [[ 9.71535369e-01 2.32087106e-01 4.74826462e-02 1.10141484e+02] [-2.31780334e-01 9.72694822e-01 -1.19440223e-02 -1.90761301e+01] [-4.89581776e-02 5.98496540e-04 9.98800650e-01 -7.06193776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:-19.08, Z:-7.06 [[ 9.71624788e-01 2.31762810e-01 4.72363317e-02 1.10167895e+02] [-2.31459120e-01 9.72772138e-01 -1.18761485e-02 -1.90841632e+01] [-4.87026369e-02 6.05880538e-04 9.98813139e-01 -7.06365971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-19.09, Z:-7.07 [[ 9.71622320e-01 2.31704103e-01 4.75738950e-02 1.10194345e+02] [-2.31396168e-01 9.72786121e-01 -1.19572675e-02 -1.90920063e+01] [-4.90497727e-02 6.09531008e-04 9.98796150e-01 -7.06541357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:-19.10, Z:-7.07 [[ 9.71409418e-01 2.32370117e-01 4.86607845e-02 1.10221246e+02] [-2.32048973e-01 9.72627260e-01 -1.22265289e-02 -1.91003056e+01] [-5.01698855e-02 5.85280226e-04 9.98740527e-01 -7.06645969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.25, Y:-19.11, Z:-7.07 [[ 9.71270392e-01 2.32789812e-01 4.94239731e-02 1.10248170e+02] [-2.32459262e-01 9.72526905e-01 -1.24141455e-02 -1.91073757e+01] [-5.09560301e-02 5.68431638e-04 9.98700736e-01 -7.07097354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:-19.12, Z:-7.07 [[ 9.71112254e-01 2.33730834e-01 4.80716983e-02 1.10275498e+02] [-2.33419447e-01 9.72301211e-01 -1.20713008e-02 -1.91157969e+01] [-4.95616057e-02 5.01718891e-04 9.98770942e-01 -7.07022404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:-19.12, Z:-7.07 [[ 9.70664908e-01 2.35728360e-01 4.73474059e-02 1.10301163e+02] [-2.35428731e-01 9.71818906e-01 -1.18880699e-02 -1.91241540e+01] [-4.88154595e-02 3.92392593e-04 9.98807738e-01 -7.07240535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:-19.13, Z:-7.07 [[ 9.70334885e-01 2.37021981e-01 4.76528203e-02 1.10328044e+02] [-2.36720341e-01 9.71504234e-01 -1.19584422e-02 -1.91320318e+01] [-4.91293304e-02 3.23301792e-04 9.98792373e-01 -7.07393657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:-19.14, Z:-7.08 [[ 9.69961306e-01 2.38533129e-01 4.77180361e-02 1.10353425e+02] [-2.38232603e-01 9.71134330e-01 -1.19724999e-02 -1.91397856e+01] [-4.91964608e-02 2.44869713e-04 9.98789091e-01 -7.07585757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:-19.15, Z:-7.08 [[ 9.69104053e-01 2.42018848e-01 4.75837369e-02 1.10380502e+02] [-2.41724496e-01 9.70271546e-01 -1.19329389e-02 -1.91485164e+01] [-4.90571421e-02 6.21046171e-05 9.98795972e-01 -7.07709166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:-19.16, Z:-7.08 [[ 9.68688074e-01 2.43749716e-01 4.72174792e-02 1.10407418e+02] [-2.43462112e-01 9.69838170e-01 -1.18374365e-02 -1.91553317e+01] [-4.86786854e-02 -2.88836205e-05 9.98814490e-01 -7.07918786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:-19.16, Z:-7.08 [[ 9.68296877e-01 2.45322627e-01 4.70953007e-02 1.10434124e+02] [-2.45038547e-01 9.69441487e-01 -1.18031453e-02 -1.91626966e+01] [-4.85517170e-02 -1.11215287e-04 9.98820664e-01 -7.08130511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:-19.17, Z:-7.08 [[ 9.67964953e-01 2.46568272e-01 4.74124215e-02 1.10459512e+02] [-2.46282018e-01 9.69125407e-01 -1.18790596e-02 -1.91702265e+01] [-4.88775816e-02 -1.78313465e-04 9.98804761e-01 -7.08299134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:-19.18, Z:-7.08 [[ 9.67497987e-01 2.48223958e-01 4.82960854e-02 1.10486945e+02] [-2.47929237e-01 9.68702634e-01 -1.20954875e-02 -1.91775870e+01] [-4.97869349e-02 -2.71651834e-04 9.98759825e-01 -7.08474972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:-19.18, Z:-7.09 [[ 9.67347137e-01 2.48735085e-01 4.86864940e-02 1.10513569e+02] [-2.48436375e-01 9.68571508e-01 -1.21902381e-02 -1.91845034e+01] [-5.01884908e-02 -3.03304100e-04 9.98739718e-01 -7.08660796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:-19.19, Z:-7.09 [[ 9.67058977e-01 2.49613543e-01 4.99000419e-02 1.10540191e+02] [-2.49301138e-01 9.68345470e-01 -1.24897609e-02 -1.91928900e+01] [-5.14380930e-02 -3.61801812e-04 9.98676120e-01 -7.08767201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:-19.20, Z:-7.09 [[ 9.66900105e-01 2.50200267e-01 5.00401162e-02 1.10567572e+02] [-2.49887052e-01 9.68194024e-01 -1.25216876e-02 -1.91991206e+01] [-5.15814710e-02 -3.97156002e-04 9.98668711e-01 -7.08912267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:-19.20, Z:-7.09 [[ 9.66730929e-01 2.50982653e-01 4.93864293e-02 1.10593990e+02] [-2.50678777e-01 9.67991486e-01 -1.23544788e-02 -1.92045276e+01] [-5.09064029e-02 -4.36672944e-04 9.98703333e-01 -7.09105396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:-19.21, Z:-7.09 [[ 9.66568982e-01 2.51799754e-01 4.83868457e-02 1.10620741e+02] [-2.51509313e-01 9.67779241e-01 -1.20998625e-02 -1.92109491e+01] [-4.98745272e-02 -4.74390524e-04 9.98755379e-01 -7.09285040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264000000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.65, Y:-19.22, Z:-7.10 [[ 9.65941251e-01 2.54128948e-01 4.87439943e-02 1.10647598e+02] [-2.53837352e-01 9.67170158e-01 -1.21853965e-02 -1.92178608e+01] [-5.02403987e-02 -6.02669300e-04 9.98736972e-01 -7.09734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27264000000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:110.68, Y:-19.22, Z:-7.10 [[ 9.65527298e-01 2.55602451e-01 4.92384361e-02 1.10675035e+02] [-2.55307021e-01 9.66781729e-01 -1.23050437e-02 -1.92233215e+01] [-5.07480197e-02 -6.90062845e-04 9.98711251e-01 -7.10022975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:-19.23, Z:-7.10 [[ 9.65093594e-01 2.57371271e-01 4.85219904e-02 1.10701723e+02] [-2.57086796e-01 9.66312283e-01 -1.21223483e-02 -1.92286237e+01] [-5.00073395e-02 -7.75162416e-04 9.98748549e-01 -7.09965736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:-19.23, Z:-7.10 [[ 9.64565609e-01 2.59577067e-01 4.72539086e-02 1.10729268e+02] [-2.59310140e-01 9.65722004e-01 -1.18009789e-02 -1.92320414e+01] [-4.86974028e-02 -8.70599246e-04 9.98813198e-01 -7.10232737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-19.24, Z:-7.10 [[ 9.64583413e-01 2.59500191e-01 4.73126759e-02 1.10755351e+02] [-2.59232677e-01 9.65742663e-01 -1.18121581e-02 -1.92379670e+01] [-4.87571269e-02 -8.71179884e-04 9.98810284e-01 -7.10421553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:-19.24, Z:-7.11 [[ 9.65102845e-01 2.57364740e-01 4.83724106e-02 1.10782565e+02] [-2.57082660e-01 9.66314014e-01 -1.20719423e-02 -1.92443501e+01] [-4.98498305e-02 -7.85042089e-04 9.98756416e-01 -7.10601883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:-19.25, Z:-7.11 [[ 9.65569899e-01 2.55577276e-01 4.85286150e-02 1.10809870e+02] [-2.55291303e-01 9.66788378e-01 -1.21071346e-02 -1.92508496e+01] [-5.00112095e-02 -6.98648597e-04 9.98748412e-01 -7.10730169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:-19.26, Z:-7.11 [[ 9.66111181e-01 2.53554390e-01 4.83668984e-02 1.10836375e+02] [-2.53267935e-01 9.67320949e-01 -1.20638075e-02 -1.92569120e+01] [-4.98451454e-02 -5.94805192e-04 9.98756781e-01 -7.10867150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.86, Y:-19.26, Z:-7.11 [[ 9.66648002e-01 2.51311625e-01 4.93366671e-02 1.10863360e+02] [-2.51011002e-01 9.67906101e-01 -1.22986048e-02 -1.92618237e+01] [-5.08440435e-02 -4.95624458e-04 9.98706482e-01 -7.11383597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.89, Y:-19.27, Z:-7.12 [[ 9.67245379e-01 2.49030785e-01 4.91939576e-02 1.10890730e+02] [-2.48729146e-01 9.68495496e-01 -1.22591702e-02 -1.92685644e+01] [-5.06970371e-02 -3.78345305e-04 9.98714007e-01 -7.11551616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.92, Y:-19.28, Z:-7.12 [[ 9.67393391e-01 2.48526188e-01 4.88340114e-02 1.10916908e+02] [-2.48228468e-01 9.68625113e-01 -1.21662663e-02 -1.92759057e+01] [-5.03254856e-02 -3.52426198e-04 9.98732808e-01 -7.11699231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-19.28, Z:-7.12 [[ 9.67351440e-01 2.48830475e-01 4.81101372e-02 1.10944143e+02] [-2.48542203e-01 9.68546983e-01 -1.19797672e-02 -1.92833580e+01] [-4.95778595e-02 -3.68754391e-04 9.98770194e-01 -7.11617120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:-19.29, Z:-7.12 [[ 9.66794902e-01 2.50892035e-01 4.85881085e-02 1.10970099e+02] [-2.50600789e-01 9.68014955e-01 -1.20950697e-02 -1.92885197e+01] [-5.00685723e-02 -4.82766570e-04 9.98745666e-01 -7.11797712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.00, Y:-19.29, Z:-7.12 [[ 9.66406633e-01 2.52233887e-01 4.93587488e-02 1.10997616e+02] [-2.51935322e-01 9.67666134e-01 -1.22819901e-02 -1.92935779e+01] [-5.08607237e-02 -5.65815608e-04 9.98705596e-01 -7.12194291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:-19.30, Z:-7.12 [[ 9.65865680e-01 2.54433963e-01 4.86502480e-02 1.11024548e+02] [-2.54146877e-01 9.67089914e-01 -1.21021623e-02 -1.92991212e+01] [-5.01283653e-02 -6.75245387e-04 9.98742555e-01 -7.12132546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:-19.30, Z:-7.12 [[ 9.65395195e-01 2.56212534e-01 4.86544462e-02 1.11052291e+02] [-2.55927887e-01 9.66620164e-01 -1.20985654e-02 -1.93031787e+01] [-5.01301729e-02 -7.72132677e-04 9.98742394e-01 -7.12280340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:-19.31, Z:-7.13 [[ 9.64416917e-01 2.59862480e-01 4.86980661e-02 1.11080526e+02] [-2.59582158e-01 9.65645151e-01 -1.21055890e-02 -1.93068235e+01] [-5.01708398e-02 -9.66314298e-04 9.98740183e-01 -7.12527945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.11, Y:-19.31, Z:-7.13 [[ 9.64185749e-01 2.60811072e-01 4.82019240e-02 1.11107965e+02] [-2.60537805e-01 9.65389334e-01 -1.19785458e-02 -1.93131229e+01] [-4.96577607e-02 -1.00888028e-03 9.98765783e-01 -7.12891367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:-19.32, Z:-7.13 [[ 9.63967350e-01 2.61823140e-01 4.70700749e-02 1.11134186e+02] [-2.61563930e-01 9.65115311e-01 -1.16938815e-02 -1.93193993e+01] [-4.84897787e-02 -1.03931380e-03 9.98823138e-01 -7.12902420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.16, Y:-19.32, Z:-7.13 [[ 9.63764243e-01 2.62516031e-01 4.73689483e-02 1.11161338e+02] [-2.62254571e-01 9.64927021e-01 -1.17636964e-02 -1.93202115e+01] [-4.87957370e-02 -1.08529320e-03 9.98808189e-01 -7.13321496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:-19.33, Z:-7.13 [[ 9.63778023e-01 2.62499502e-01 4.71797967e-02 1.11188390e+02] [-2.62240316e-01 9.64931519e-01 -1.17124193e-02 -1.93253708e+01] [-4.85997771e-02 -1.08427247e-03 9.98817744e-01 -7.13278629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:-19.33, Z:-7.13 [[ 9.63912720e-01 2.62012737e-01 4.71337953e-02 1.11216219e+02] [-2.61753693e-01 9.65063830e-01 -1.16965274e-02 -1.93311239e+01] [-4.85517602e-02 -1.06301345e-03 9.98820102e-01 -7.13481162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.24, Y:-19.34, Z:-7.14 [[ 9.64247620e-01 2.60692098e-01 4.76041660e-02 1.11243515e+02] [-2.60426431e-01 9.65421467e-01 -1.18095031e-02 -1.93355098e+01] [-4.90367279e-02 -1.01009780e-03 9.98796465e-01 -7.13926416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:-19.34, Z:-7.14 [[ 9.65058707e-01 2.57749580e-01 4.71894688e-02 1.11270467e+02] [-2.57485171e-01 9.66211375e-01 -1.17032443e-02 -1.93395534e+01] [-4.86115079e-02 -8.56270592e-04 9.98817395e-01 -7.13966455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:-19.35, Z:-7.14 [[ 9.65594507e-01 2.55652666e-01 4.76336347e-02 1.11297183e+02] [-2.55380917e-01 9.66768397e-01 -1.18090451e-02 -1.93450474e+01] [-4.90697065e-02 -7.61972214e-04 9.98795066e-01 -7.14175217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-19.35, Z:-7.14 [[ 9.66625401e-01 2.51489586e-01 4.88704587e-02 1.11324770e+02] [-2.51198451e-01 9.67859837e-01 -1.21109239e-02 -1.93506753e+01] [-5.03455255e-02 -5.69456822e-04 9.98731698e-01 -7.14311849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264000000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:111.35, Y:-19.36, Z:-7.15 [[ 9.67164787e-01 2.49278432e-01 4.95231149e-02 1.11351248e+02] [-2.48976751e-01 9.68431747e-01 -1.22690240e-02 -1.93551595e+01] [-5.10181597e-02 -4.63936295e-04 9.98697618e-01 -7.14842521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-19.36, Z:-7.15 [[ 9.67553600e-01 2.47966684e-01 4.85031394e-02 1.11378569e+02] [-2.47675881e-01 9.68768482e-01 -1.20119604e-02 -1.93618673e+01] [-4.99668787e-02 -3.90842271e-04 9.98750799e-01 -7.14721248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:-19.37, Z:-7.15 [[ 9.68304607e-01 2.45245280e-01 4.73385777e-02 1.11406071e+02] [-2.44965195e-01 9.69461031e-01 -1.17201570e-02 -1.93664130e+01] [-4.87672196e-02 -2.47621855e-04 9.98810141e-01 -7.15022159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.43, Y:-19.37, Z:-7.15 [[ 9.68568478e-01 2.44205473e-01 4.73158678e-02 1.11433628e+02] [-2.43924586e-01 9.69723490e-01 -1.17110407e-02 -1.93716145e+01] [-4.87432087e-02 -1.98558627e-04 9.98811324e-01 -7.15453922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:-19.38, Z:-7.15 [[ 9.68703657e-01 2.43741348e-01 4.69401872e-02 1.11460318e+02] [-2.43464527e-01 9.69840257e-01 -1.16146611e-02 -1.93780961e+01] [-4.83554564e-02 -1.77105835e-04 9.98830175e-01 -7.15431240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:111.49, Y:-19.38, Z:-7.16 [[ 9.68910513e-01 2.42751741e-01 4.77913261e-02 1.11487266e+02] [-2.42463810e-01 9.70088436e-01 -1.18206018e-02 -1.93832900e+01] [-4.92312845e-02 -1.34561635e-04 9.98787396e-01 -7.15962176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:111.51, Y:-19.39, Z:-7.16 [[ 9.68925423e-01 2.42692039e-01 4.77922489e-02 1.11514893e+02] [-2.42404220e-01 9.70103374e-01 -1.18168695e-02 -1.93899910e+01] [-4.92312820e-02 -1.35377491e-04 9.98787396e-01 -7.16153728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:-19.40, Z:-7.16 [[ 9.69105969e-01 2.42016061e-01 4.75588819e-02 1.11540989e+02] [-2.41730363e-01 9.70272238e-01 -1.17565395e-02 -1.93967107e+01] [-4.89903342e-02 -1.03093206e-04 9.98799247e-01 -7.16030246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:-19.40, Z:-7.16 [[ 9.69284206e-01 2.41319851e-01 4.74642820e-02 1.11566991e+02] [-2.41034670e-01 9.70445632e-01 -1.17287510e-02 -1.94030683e+01] [-4.88918856e-02 -7.20445199e-05 9.98804074e-01 -7.16236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:-19.41, Z:-7.16 [[ 9.69419598e-01 2.40846893e-01 4.71000669e-02 1.11594034e+02] [-2.40565714e-01 9.70563121e-01 -1.16346668e-02 -1.94097250e+01] [-4.85157613e-02 -5.17872301e-05 9.98822416e-01 -7.16421878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:-19.42, Z:-7.17 [[ 9.69445536e-01 2.40710679e-01 4.72622598e-02 1.11620665e+02] [-2.40427569e-01 9.70596912e-01 -1.16712289e-02 -1.94159485e+01] [-4.86819929e-02 -4.85294740e-05 9.98814328e-01 -7.16617642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35264000000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:111.65, Y:-19.42, Z:-7.17 [[ 9.69466878e-01 2.40303698e-01 4.88682379e-02 1.11646715e+02] [-2.40000727e-01 9.70697755e-01 -1.20631416e-02 -1.94203675e+01] [-5.03351063e-02 -3.35963632e-05 9.98732385e-01 -7.17087799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:-19.43, Z:-7.17 [[ 9.69369421e-01 2.40662337e-01 4.90363690e-02 1.11673888e+02] [-2.40357970e-01 9.70608900e-01 -1.20999936e-02 -1.94285903e+01] [-5.05071489e-02 -5.69183676e-05 9.98723698e-01 -7.16973930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:111.70, Y:-19.43, Z:-7.17 [[ 9.69472793e-01 2.40117530e-01 4.96595966e-02 1.11700407e+02] [-2.39804847e-01 9.70743823e-01 -1.22500762e-02 -1.94347332e+01] [-5.11482048e-02 -3.24963664e-05 9.98691073e-01 -7.17440503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:-19.44, Z:-7.17 [[ 9.69620690e-01 2.39383789e-01 5.03102217e-02 1.11726248e+02] [-2.39062106e-01 9.70925024e-01 -1.24059634e-02 -1.94434757e+01] [-5.18172398e-02 1.81125669e-06 9.98656584e-01 -7.17369202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:-19.45, Z:-7.18 [[ 9.69736530e-01 2.38903997e-01 5.03581317e-02 1.11752943e+02] [-2.38581295e-01 9.71043191e-01 -1.24131526e-02 -1.94506571e+01] [-5.18654727e-02 2.29792531e-05 9.98654080e-01 -7.17559732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:111.78, Y:-19.46, Z:-7.18 [[ 9.69862249e-01 2.38392344e-01 5.03617806e-02 1.11779620e+02] [-2.38069102e-01 9.71168929e-01 -1.24102569e-02 -1.94571427e+01] [-5.18683068e-02 4.66557818e-05 9.98653932e-01 -7.18066081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:-19.47, Z:-7.18 [[ 9.69569629e-01 2.39855252e-01 4.90325747e-02 1.11806469e+02] [-2.39550906e-01 9.70808661e-01 -1.20791688e-02 -1.94659455e+01] [-5.04985003e-02 -3.42024370e-05 9.98724136e-01 -7.17946339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:-19.47, Z:-7.18 [[ 9.69312318e-01 2.40895924e-01 4.90182059e-02 1.11833855e+02] [-2.40593271e-01 9.70550949e-01 -1.20719730e-02 -1.94730739e+01] [-5.04827554e-02 -9.19383513e-05 9.98724929e-01 -7.18189674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:-19.48, Z:-7.18 [[ 9.69077252e-01 2.41834424e-01 4.90447931e-02 1.11859793e+02] [-2.41532783e-01 9.70317521e-01 -1.20757586e-02 -1.94795305e+01] [-5.05093562e-02 -1.43582394e-04 9.98723578e-01 -7.18417641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:-19.49, Z:-7.19 [[ 9.68855917e-01 2.42758762e-01 4.88507482e-02 1.11886629e+02] [-2.42461051e-01 9.70086668e-01 -1.20205988e-02 -1.94862416e+01] [-5.03075652e-02 -1.98175495e-04 9.98733753e-01 -7.18595432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:-19.49, Z:-7.19 [[ 9.68510794e-01 2.43884677e-01 5.00710118e-02 1.11913239e+02] [-2.43573594e-01 9.69804204e-01 -1.23171029e-02 -1.94923094e+01] [-5.15630304e-02 -2.66729227e-04 9.98669707e-01 -7.18759954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.94, Y:-19.50, Z:-7.19 [[ 9.68413894e-01 2.44032810e-01 5.12105248e-02 1.11940313e+02] [-2.43707857e-01 9.69766934e-01 -1.25926275e-02 -1.94988930e+01] [-5.27352879e-02 -2.85531870e-04 9.98608486e-01 -7.18986435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:-19.51, Z:-7.19 [[ 9.68458495e-01 2.43831336e-01 5.13266401e-02 1.11966508e+02] [-2.43504832e-01 9.69817613e-01 -1.26172525e-02 -1.95060185e+01] [-5.28539611e-02 -2.78999543e-04 9.98602214e-01 -7.19153725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:-19.51, Z:-7.19 [[ 9.68616724e-01 2.43271391e-01 5.09967891e-02 1.11993151e+02] [-2.42948558e-01 9.69958229e-01 -1.25312191e-02 -1.95132324e+01] [-5.25132424e-02 -2.51648005e-04 9.98620196e-01 -7.19370133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:-19.52, Z:-7.20 [[ 9.69087432e-01 2.41497586e-01 5.04823245e-02 1.12019689e+02] [-2.41179025e-01 9.70401407e-01 -1.24010718e-02 -1.95214637e+01] [-5.19829477e-02 -1.57554997e-04 9.98647960e-01 -7.19669154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:-19.53, Z:-7.20 [[ 9.69420369e-01 2.40262876e-01 4.99789886e-02 1.12046687e+02] [-2.39949191e-01 9.70707856e-01 -1.22737202e-02 -1.95282030e+01] [-5.14639162e-02 -9.40235437e-05 9.98674850e-01 -7.19869507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:112.07, Y:-19.53, Z:-7.20 [[ 9.69792377e-01 2.38834148e-01 4.96084295e-02 1.12072336e+02] [-2.38523410e-01 9.71060374e-01 -1.21792208e-02 -1.95337534e+01] [-5.10815939e-02 -2.14563252e-05 9.98694483e-01 -7.20356337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:-19.54, Z:-7.20 [[ 9.70404197e-01 2.36403477e-01 4.92858037e-02 1.12098253e+02] [-2.36093859e-01 9.71654972e-01 -1.20956367e-02 -1.95441466e+01] [-5.07482469e-02 1.01581076e-04 9.98711472e-01 -7.20325705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:-19.56, Z:-7.21 [[ 9.70600838e-01 2.34352476e-01 5.48901598e-02 1.12123208e+02] [-2.34598825e-01 9.72090212e-01 -2.00276695e-03 -1.95583755e+01] [-5.38275404e-02 -1.09332797e-02 9.98490390e-01 -7.20695171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:-19.55, Z:-7.21 [[ 9.70851864e-01 2.34962176e-01 4.73226637e-02 1.12153842e+02] [-2.34110155e-01 9.71940675e-01 -2.28857786e-02 -1.95534317e+01] [-5.13721141e-02 1.11399846e-02 9.98617448e-01 -7.20561395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:-19.57, Z:-7.21 [[ 9.70997562e-01 2.33763633e-01 5.01826433e-02 1.12178904e+02] [-2.33439608e-01 9.72293427e-01 -1.23061278e-02 -1.95656338e+01] [-5.16689794e-02 2.34603517e-04 9.98664239e-01 -7.20772018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:-19.57, Z:-7.21 [[ 9.71197257e-01 2.32958182e-01 5.00637004e-02 1.12206120e+02] [-2.32634866e-01 9.72486715e-01 -1.22722381e-02 -1.95735348e+01] [-5.15452018e-02 2.72201789e-04 9.98670625e-01 -7.21050396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:-19.58, Z:-7.21 [[ 9.71358456e-01 2.32321882e-01 4.98928096e-02 1.12233243e+02] [-2.32000150e-01 9.72638912e-01 -1.22261044e-02 -1.95816608e+01] [-5.13680796e-02 3.00790606e-04 9.98679743e-01 -7.21305880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.26, Y:-19.59, Z:-7.22 [[ 9.71568299e-01 2.31520212e-01 4.95321255e-02 1.12261050e+02] [-2.31202208e-01 9.72830035e-01 -1.21351616e-02 -1.95890410e+01] [-5.09958746e-02 3.38201562e-04 9.98698807e-01 -7.21741032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:-19.60, Z:-7.22 [[ 9.71776861e-01 2.30516029e-01 5.01207834e-02 1.12286901e+02] [-2.30189209e-01 9.73068449e-01 -1.22769049e-02 -1.95993551e+01] [-5.16009763e-02 3.93148641e-04 9.98667705e-01 -7.21734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.31, Y:-19.61, Z:-7.22 [[ 9.71906760e-01 2.30029907e-01 4.98346533e-02 1.12313188e+02] [-2.29706338e-01 9.73183472e-01 -1.22035827e-02 -1.96072419e+01] [-5.13054499e-02 4.13408839e-04 9.98682923e-01 -7.22108519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-19.62, Z:-7.22 [[ 9.72023062e-01 2.29612090e-01 4.94919772e-02 1.12339972e+02] [-2.29292583e-01 9.73282130e-01 -1.21164296e-02 -1.96159613e+01] [-5.09517357e-02 4.29305751e-04 9.98701024e-01 -7.22115201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.37, Y:-19.62, Z:-7.22 [[ 9.72108144e-01 2.29368374e-01 4.89479808e-02 1.12368005e+02] [-2.29055705e-01 9.73339592e-01 -1.19801291e-02 -1.96238511e+01] [-5.03908704e-02 4.34166848e-04 9.98729479e-01 -7.22490336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.39, Y:-19.63, Z:-7.23 [[ 9.71782908e-01 2.30612176e-01 4.95580866e-02 1.12394008e+02] [-2.30293399e-01 9.73045675e-01 -1.21270172e-02 -1.96339503e+01] [-5.10189197e-02 3.71927797e-04 9.98697618e-01 -7.22762169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:-19.64, Z:-7.23 [[ 9.71521331e-01 2.31602266e-01 5.00668864e-02 1.12419902e+02] [-2.31278390e-01 9.72810510e-01 -1.22482086e-02 -1.96433874e+01] [-5.15423062e-02 3.20007033e-04 9.98670761e-01 -7.22768852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.45, Y:-19.65, Z:-7.23 [[ 9.71227376e-01 2.32885957e-01 4.98148021e-02 1.12447710e+02] [-2.32567197e-01 9.72504021e-01 -1.21831386e-02 -1.96523276e+01] [-5.12823772e-02 2.47308825e-04 9.98684163e-01 -7.23132080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:-19.66, Z:-7.23 [[ 9.70650121e-01 2.35059175e-01 5.08480845e-02 1.12474339e+02] [-2.34730140e-01 9.71981052e-01 -1.24336287e-02 -1.96623881e+01] [-5.23460132e-02 1.33125216e-04 9.98628999e-01 -7.23105508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:-19.67, Z:-7.23 [[ 9.70456584e-01 2.35724119e-01 5.14602570e-02 1.12501480e+02] [-2.35388266e-01 9.71820010e-01 -1.25790759e-02 -1.96706693e+01] [-5.29752991e-02 9.43063278e-05 9.98595819e-01 -7.23291245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:-19.68, Z:-7.24 [[ 9.70320020e-01 2.36264260e-01 5.15582916e-02 1.12528611e+02] [-2.35928027e-01 9.71688837e-01 -1.26004263e-02 -1.96798134e+01] [-5.30756468e-02 6.23998339e-05 9.98590493e-01 -7.23522734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.56, Y:-19.69, Z:-7.24 [[ 9.70186628e-01 2.37004294e-01 5.06642988e-02 1.12555072e+02] [-2.36680769e-01 9.71508602e-01 -1.23793851e-02 -1.96909270e+01] [-5.21547695e-02 1.90487107e-05 9.98639014e-01 -7.23882907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.58, Y:-19.70, Z:-7.24 [[ 9.70148331e-01 2.37275336e-01 5.01261429e-02 1.12582919e+02] [-2.36959145e-01 9.71442440e-01 -1.22453569e-02 -1.96996696e+01] [-5.16001837e-02 1.96463433e-06 9.98667823e-01 -7.24124534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.61, Y:-19.71, Z:-7.24 [[ 9.70025464e-01 2.37882519e-01 4.96236511e-02 1.12609436e+02] [-2.37573550e-01 9.71293934e-01 -1.21203220e-02 -1.97075397e+01] [-5.10823640e-02 -3.22459808e-05 9.98694443e-01 -7.24256337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:-19.72, Z:-7.24 [[ 9.69470498e-01 2.39947831e-01 5.05172372e-02 1.12636380e+02] [-2.39630626e-01 9.70785773e-01 -1.23347531e-02 -1.97174066e+01] [-5.20011124e-02 -1.47297900e-04 9.98647016e-01 -7.24387689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:-19.73, Z:-7.25 [[ 9.69075745e-01 2.41479510e-01 5.07921934e-02 1.12662978e+02] [-2.41161070e-01 9.70405890e-01 -1.23994373e-02 -1.97256880e+01] [-5.22832538e-02 -2.33105774e-04 9.98632268e-01 -7.24533805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:-19.73, Z:-7.25 [[ 9.68666031e-01 2.43117309e-01 5.07946287e-02 1.12691011e+02] [-2.42801287e-01 9.69996839e-01 -1.23962522e-02 -1.97335647e+01] [-5.22843728e-02 -3.25172814e-04 9.98632184e-01 -7.24700058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.72, Y:-19.74, Z:-7.25 [[ 9.68188845e-01 2.45099333e-01 5.03654389e-02 1.12719114e+02] [-2.44791445e-01 9.69497876e-01 -1.22889179e-02 -1.97404254e+01] [-5.18411916e-02 -4.31035339e-04 9.98655248e-01 -7.25050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:-19.75, Z:-7.25 [[ 9.66992407e-01 2.49418223e-01 5.21175084e-02 1.12745985e+02] [-2.49094927e-01 9.68395620e-01 -1.27137980e-02 -1.97473525e+01] [-5.36414198e-02 -6.88060791e-04 9.98560026e-01 -7.25089124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61264000000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:112.77, Y:-19.75, Z:-7.25 [[ 9.66453276e-01 2.51505157e-01 5.20885858e-02 1.12773775e+02] [-2.51185457e-01 9.67855622e-01 -1.27028334e-02 -1.97527623e+01] [-5.36090587e-02 -8.07200249e-04 9.98561674e-01 -7.25338220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:-19.76, Z:-7.25 [[ 9.65952275e-01 2.53160988e-01 5.33452616e-02 1.12802257e+02] [-2.52828343e-01 9.67423724e-01 -1.30064491e-02 -1.97594373e+01] [-5.49001972e-02 -9.23585033e-04 9.98491420e-01 -7.25416184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:-19.77, Z:-7.26 [[ 9.65500442e-01 2.54680236e-01 5.42851183e-02 1.12829296e+02] [-2.54338312e-01 9.67024775e-01 -1.32328297e-02 -1.97659306e+01] [-5.58651945e-02 -1.03048244e-03 9.98437789e-01 -7.25647100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:112.86, Y:-19.77, Z:-7.26 [[ 9.65140433e-01 2.56106431e-01 5.39762909e-02 1.12857430e+02] [-2.55770817e-01 9.66647952e-01 -1.31539144e-02 -1.97726361e+01] [-5.55448732e-02 -1.11018537e-03 9.98455575e-01 -7.25992491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:-19.78, Z:-7.26 [[ 9.65270282e-01 2.55633862e-01 5.38944372e-02 1.12884680e+02] [-2.55298679e-01 9.66773062e-01 -1.31312959e-02 -1.97787953e+01] [-5.54604940e-02 -1.08392888e-03 9.98460294e-01 -7.26066291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:-19.78, Z:-7.26 [[ 9.65475485e-01 2.54832081e-01 5.40157220e-02 1.12912877e+02] [-2.54494336e-01 9.66984758e-01 -1.31571916e-02 -1.97844043e+01] [-5.55852544e-02 -1.04374934e-03 9.98453399e-01 -7.26299464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:-19.79, Z:-7.26 [[ 9.66201670e-01 2.51915840e-01 5.47059675e-02 1.12940122e+02] [-2.51564885e-01 9.67748737e-01 -1.33225729e-02 -1.97894675e+01] [-5.62977981e-02 -8.89808226e-04 9.98413625e-01 -7.26467995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:-19.80, Z:-7.27 [[ 9.66697148e-01 2.50023887e-01 5.46322256e-02 1.12968097e+02] [-2.49671065e-01 9.68239353e-01 -1.33009514e-02 -1.97965526e+01] [-5.62226263e-02 -7.82094130e-04 9.98417951e-01 -7.26642288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:-19.80, Z:-7.27 [[ 9.67198997e-01 2.48171784e-01 5.41928644e-02 1.12995733e+02] [-2.47821866e-01 9.68715807e-01 -1.31912198e-02 -1.98027333e+01] [-5.57711729e-02 -6.71642210e-04 9.98443351e-01 -7.26801172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.02, Y:-19.81, Z:-7.27 [[ 9.67979899e-01 2.45413293e-01 5.27942215e-02 1.13023329e+02] [-2.45077251e-01 9.69418415e-01 -1.28482554e-02 -1.98080537e+01] [-5.43328232e-02 -5.01809668e-04 9.98522755e-01 -7.27080223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:-19.82, Z:-7.27 [[ 9.68251639e-01 2.44281068e-01 5.30615080e-02 1.13051405e+02] [-2.43940112e-01 9.69704369e-01 -1.29096610e-02 -1.98151037e+01] [-5.46075619e-02 -4.44029798e-04 9.98507795e-01 -7.27215642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:-19.82, Z:-7.27 [[ 9.68438936e-01 2.43557876e-01 5.29677973e-02 1.13079721e+02] [-2.43217194e-01 9.69886280e-01 -1.28840857e-02 -1.98221495e+01] [-5.45107604e-02 -4.05228794e-04 9.98513101e-01 -7.27421554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:-19.83, Z:-7.28 [[ 9.68739408e-01 2.42382873e-01 5.28630454e-02 1.13108037e+02] [-2.42041940e-01 9.70180615e-01 -1.28558494e-02 -1.98291106e+01] [-5.44027396e-02 -3.41106139e-04 9.98519016e-01 -7.27604310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:-19.84, Z:-7.28 [[ 9.68843826e-01 2.42073180e-01 5.23661731e-02 1.13134723e+02] [-2.41738315e-01 9.70257941e-01 -1.27324827e-02 -1.98353805e+01] [-5.38908878e-02 -3.23123123e-04 9.98546778e-01 -7.27793120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:-19.84, Z:-7.28 [[ 9.68966106e-01 2.41701389e-01 5.18181779e-02 1.13161804e+02] [-2.41373143e-01 9.70350631e-01 -1.25959706e-02 -1.98415163e+01] [-5.33262652e-02 -3.02447888e-04 9.98577097e-01 -7.28037064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.19, Y:-19.85, Z:-7.28 [[ 9.69184911e-01 2.41221817e-01 4.99263722e-02 1.13189779e+02] [-2.40916657e-01 9.70469970e-01 -1.21326876e-02 -1.98480521e+01] [-5.13787138e-02 -2.69276913e-04 9.98679205e-01 -7.28392517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:-19.86, Z:-7.29 [[ 9.69282375e-01 2.40687753e-01 5.06071348e-02 1.13218060e+02] [-2.40373621e-01 9.70602568e-01 -1.22954431e-02 -1.98555629e+01] [-5.20787776e-02 -2.46863965e-04 9.98642949e-01 -7.28514172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:-19.86, Z:-7.29 [[ 9.69460363e-01 2.39844242e-01 5.11990620e-02 1.13244848e+02] [-2.39521670e-01 9.70811360e-01 -1.24367421e-02 -1.98622877e+01] [-5.26875120e-02 -2.06356321e-04 9.98611027e-01 -7.28699995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:-19.87, Z:-7.29 [[ 9.69468870e-01 2.39809672e-01 5.11999077e-02 1.13273305e+02] [-2.39487236e-01 9.70819900e-01 -1.24332593e-02 -1.98691122e+01] [-5.26875051e-02 -2.08066535e-04 9.98611027e-01 -7.28897572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:-19.88, Z:-7.29 [[ 9.69642683e-01 2.38973479e-01 5.18145048e-02 1.13300615e+02] [-2.38642153e-01 9.71026080e-01 -1.25807088e-02 -1.98766178e+01] [-5.33196913e-02 -1.66332702e-04 9.98577480e-01 -7.29039758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:-19.89, Z:-7.29 [[ 9.69730850e-01 2.38436684e-01 5.26310332e-02 1.13327266e+02] [-2.38094172e-01 9.71158034e-01 -1.27764372e-02 -1.98853714e+01] [-5.41594221e-02 -1.41437002e-04 9.98532291e-01 -7.29148605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:-19.89, Z:-7.29 [[ 9.69646061e-01 2.38780256e-01 5.26355918e-02 1.13355154e+02] [-2.38438389e-01 9.71073613e-01 -1.27738906e-02 -1.98920970e+01] [-5.41631872e-02 -1.64193032e-04 9.98532084e-01 -7.29329209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:-19.90, Z:-7.30 [[ 9.69003863e-01 2.41509222e-01 5.20077882e-02 1.13382079e+02] [-2.41179525e-01 9.70398473e-01 -1.26190477e-02 -1.98988626e+01] [-5.35158946e-02 -3.15307672e-04 9.98566948e-01 -7.29544508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:-19.91, Z:-7.30 [[ 9.68568490e-01 2.43249394e-01 5.20078187e-02 1.13410076e+02] [-2.42922391e-01 9.69963690e-01 -1.26155500e-02 -1.99065252e+01] [-5.35144207e-02 -4.14839402e-04 9.98566991e-01 -7.29768690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:-19.91, Z:-7.30 [[ 9.68047789e-01 2.45244791e-01 5.23303935e-02 1.13436738e+02] [-2.44916766e-01 9.69461041e-01 -1.26912237e-02 -1.99135501e+01] [-5.38447343e-02 -5.30879665e-04 9.98549179e-01 -7.29940840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:-19.92, Z:-7.30 [[ 9.67501642e-01 2.47369062e-01 5.24320595e-02 1.13463811e+02] [-2.47043060e-01 9.68921111e-01 -1.27124543e-02 -1.99195384e+01] [-5.39471972e-02 -6.53656021e-04 9.98543576e-01 -7.30147632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39264000000001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.49, Y:-19.92, Z:-7.31 [[ 9.66971637e-01 2.49552334e-01 5.18602613e-02 1.13491669e+02] [-2.49236724e-01 9.68361007e-01 -1.25704368e-02 -1.99246152e+01] [-5.33564367e-02 -7.70225752e-04 9.98575234e-01 -7.30529366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:-19.93, Z:-7.31 [[ 9.65972918e-01 2.53452145e-01 5.15590072e-02 1.13519097e+02] [-2.53145866e-01 9.67347428e-01 -1.24949860e-02 -1.99292803e+01] [-5.30423540e-02 -9.82131493e-04 9.98591781e-01 -7.30593084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.55, Y:-19.94, Z:-7.31 [[ 9.65500802e-01 2.55383158e-01 5.08688927e-02 1.13546013e+02] [-2.55087860e-01 9.66839327e-01 -1.23247557e-02 -1.99351955e+01] [-5.23295810e-02 -1.07647547e-03 9.98629289e-01 -7.30890193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:-19.94, Z:-7.31 [[ 9.65078920e-01 2.57039513e-01 5.05308448e-02 1.13573524e+02] [-2.56750592e-01 9.66400196e-01 -1.22390935e-02 -1.99405562e+01] [-5.19789489e-02 -1.16213318e-03 9.98647505e-01 -7.30915806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:-19.94, Z:-7.31 [[ 9.64325661e-01 2.59949501e-01 5.00227663e-02 1.13601669e+02] [-2.59670461e-01 9.65621325e-01 -1.21123503e-02 -1.99444116e+01] [-5.14516493e-02 -1.30918454e-03 9.98674629e-01 -7.31168449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:-19.95, Z:-7.31 [[ 9.64149810e-01 2.60651839e-01 4.97570342e-02 1.13629393e+02] [-2.60376880e-01 9.65431932e-01 -1.20443045e-02 -1.99504466e+01] [-5.11763997e-02 -1.34306742e-03 9.98688726e-01 -7.31383185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:113.66, Y:-19.96, Z:-7.32 [[ 9.63884333e-01 2.61669889e-01 4.95566588e-02 1.13655538e+02] [-2.61398670e-01 9.65156424e-01 -1.19921755e-02 -1.99558375e+01] [-5.09679189e-02 -1.39497461e-03 9.98699317e-01 -7.31704150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:-19.96, Z:-7.32 [[ 9.63792665e-01 2.61842799e-01 5.04187132e-02 1.13683556e+02] [-2.61562546e-01 9.65109473e-01 -1.21959085e-02 -1.99599466e+01] [-5.18529885e-02 -1.43331982e-03 9.98653700e-01 -7.31725735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:-19.96, Z:-7.32 [[ 9.63484090e-01 2.62585019e-01 5.24167555e-02 1.13712392e+02] [-2.62283427e-01 9.64907637e-01 -1.26749773e-02 -1.99599446e+01] [-5.39055869e-02 -1.53590727e-03 9.98544856e-01 -7.31804830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:-19.96, Z:-7.32 [[ 9.63480743e-01 2.62457916e-01 5.31102585e-02 1.13739062e+02] [-2.62148315e-01 9.64942190e-01 -1.28386307e-02 -1.99646149e+01] [-5.46179294e-02 -1.55299133e-03 9.98506119e-01 -7.31983048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:-19.97, Z:-7.32 [[ 9.63568503e-01 2.62065814e-01 5.34532482e-02 1.13765325e+02] [-2.61751866e-01 9.65048766e-01 -1.29166549e-02 -1.99702847e+01] [-5.49700049e-02 -1.54540559e-03 9.98486810e-01 -7.32156286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:-19.97, Z:-7.32 [[ 9.64211619e-01 2.59791954e-01 5.29537006e-02 1.13793943e+02] [-2.59480686e-01 9.65663586e-01 -1.27911314e-02 -1.99727241e+01] [-5.44584934e-02 -1.40710508e-03 9.98515044e-01 -7.32259864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:-19.98, Z:-7.32 [[ 9.64589585e-01 2.58358411e-01 5.30835555e-02 1.13821355e+02] [-2.58043662e-01 9.66048215e-01 -1.28185355e-02 -1.99753826e+01] [-5.45930505e-02 -1.33324917e-03 9.98507797e-01 -7.32465154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.85, Y:-19.98, Z:-7.33 [[ 9.65029615e-01 2.56746794e-01 5.29048796e-02 1.13849045e+02] [-2.56432009e-01 9.66477904e-01 -1.27704839e-02 -1.99798083e+01] [-5.44101780e-02 -1.24260942e-03 9.98517896e-01 -7.32789423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:-19.98, Z:-7.33 [[ 9.66548402e-01 2.50845762e-01 5.34844795e-02 1.13876661e+02] [-2.50515223e-01 9.68026627e-01 -1.29063251e-02 -1.99824220e+01] [-5.50118972e-02 -9.24088394e-04 9.98485271e-01 -7.32845407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:-19.99, Z:-7.33 [[ 9.67354702e-01 2.47851426e-01 5.28635089e-02 1.13902922e+02] [-2.47524311e-01 9.68797765e-01 -1.27517398e-02 -1.99866552e+01] [-5.43745861e-02 -7.49548183e-04 9.98520327e-01 -7.33020854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:-19.99, Z:-7.33 [[ 9.68230164e-01 2.44620475e-01 5.18765199e-02 1.13930987e+02] [-2.44301074e-01 9.69618743e-01 -1.25091043e-02 -1.99912181e+01] [-5.33604291e-02 -5.61797400e-04 9.98575159e-01 -7.33257273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:-20.00, Z:-7.33 [[ 9.69623162e-01 2.39108642e-01 5.15556116e-02 1.13958354e+02] [-2.38785597e-01 9.70992785e-01 -1.24277756e-02 -1.99954120e+01] [-5.30317155e-02 -2.60478377e-04 9.98592795e-01 -7.33408503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:-20.00, Z:-7.34 [[ 9.70061898e-01 2.37288897e-01 5.17097029e-02 1.13985600e+02] [-2.36961546e-01 9.71439114e-01 -1.24608839e-02 -2.00008680e+01] [-5.31896574e-02 -1.65382500e-04 9.98584415e-01 -7.33553240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.01, Y:-20.01, Z:-7.34 [[ 9.70650323e-01 2.35011693e-01 5.10632410e-02 1.14013138e+02] [-2.34689534e-01 9.71992542e-01 -1.23012251e-02 -2.00051347e+01] [-5.25240212e-02 -4.38200887e-05 9.98619660e-01 -7.33813302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.04, Y:-20.01, Z:-7.34 [[ 9.70897573e-01 2.33989214e-01 5.10583078e-02 1.14040811e+02] [-2.33665925e-01 9.72239193e-01 -1.22958512e-02 -2.00108772e+01] [-5.25179845e-02 7.42541643e-06 9.98619978e-01 -7.33938658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:-20.02, Z:-7.34 [[ 9.71158865e-01 2.32873217e-01 5.11910440e-02 1.14067768e+02] [-2.32546835e-01 9.72507101e-01 -1.23251421e-02 -2.00160983e+01] [-5.26538492e-02 6.53558175e-05 9.98612822e-01 -7.33965135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:-20.02, Z:-7.34 [[ 9.71320841e-01 2.32174010e-01 5.12937822e-02 1.14095697e+02] [-2.31845668e-01 9.72674262e-01 -1.23436938e-02 -2.00211298e+01] [-5.27580267e-02 9.74458327e-05 9.98607321e-01 -7.34139410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:-20.02, Z:-7.34 [[ 9.71626849e-01 2.30927666e-01 5.11241515e-02 1.14123214e+02] [-2.30599967e-01 9.72970908e-01 -1.22991098e-02 -2.00249277e+01] [-5.25825168e-02 1.60917608e-04 9.98616570e-01 -7.34337576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-20.03, Z:-7.35 [[ 9.71773422e-01 2.30324964e-01 5.10570963e-02 1.14150570e+02] [-2.29997511e-01 9.73113752e-01 -1.22788456e-02 -2.00318359e+01] [-5.25124872e-02 1.89250726e-04 9.98620250e-01 -7.34541670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:-20.04, Z:-7.35 [[ 9.71953521e-01 2.29666029e-01 5.05951345e-02 1.14177325e+02] [-2.29343745e-01 9.73269473e-01 -1.21647057e-02 -2.00383167e+01] [-5.20365195e-02 2.19850957e-04 9.98645158e-01 -7.34740060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:-20.04, Z:-7.35 [[ 9.72054016e-01 2.29390131e-01 4.99115055e-02 1.14204362e+02] [-2.29076324e-01 9.73334534e-01 -1.19967487e-02 -2.00444534e+01] [-5.13325277e-02 2.27943567e-04 9.98681591e-01 -7.34880040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:-20.05, Z:-7.35 [[ 9.72085650e-01 2.29509258e-01 4.87338611e-02 1.14230713e+02] [-2.29210415e-01 9.73306455e-01 -1.17102617e-02 -2.00493134e+01] [-5.01205951e-02 2.13068756e-04 9.98743150e-01 -7.35069938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.26, Y:-20.06, Z:-7.35 [[ 9.71951236e-01 2.30081184e-01 4.87180041e-02 1.14256431e+02] [-2.29783473e-01 9.73171422e-01 -1.17020864e-02 -2.00551231e+01] [-5.01033992e-02 1.79265161e-04 9.98744020e-01 -7.35436690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:-20.06, Z:-7.35 [[ 9.71958252e-01 2.30128170e-01 4.83547435e-02 1.14283710e+02] [-2.29835165e-01 9.73160314e-01 -1.16103637e-02 -2.00620484e+01] [-4.97287891e-02 1.71168321e-04 9.98762744e-01 -7.35473032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:-20.07, Z:-7.36 [[ 9.71971103e-01 2.30082690e-01 4.83128331e-02 1.14310402e+02] [-2.29790324e-01 9.73171068e-01 -1.15965609e-02 -2.00691008e+01] [-4.96848193e-02 1.69700556e-04 9.98764932e-01 -7.35630016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:114.34, Y:-20.08, Z:-7.36 [[ 9.71785285e-01 2.30645334e-01 4.93567612e-02 1.14336290e+02] [-2.30341086e-01 9.73037877e-01 -1.18437226e-02 -2.00753405e+01] [-5.07576975e-02 1.40665380e-04 9.98710987e-01 -7.35890007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:-20.08, Z:-7.36 [[ 9.71694266e-01 2.31018037e-01 4.94056604e-02 1.14362607e+02] [-2.30713967e-01 9.72949461e-01 -1.18495646e-02 -2.00807082e+01] [-5.08066738e-02 1.15578030e-04 9.98708500e-01 -7.35917049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:-20.09, Z:-7.36 [[ 9.71485331e-01 2.32114610e-01 4.83638231e-02 1.14389614e+02] [-2.31824815e-01 9.72688442e-01 -1.15952812e-02 -2.00867340e+01] [-4.97343659e-02 5.27112918e-05 9.98762479e-01 -7.36032548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:-20.09, Z:-7.36 [[ 9.71258371e-01 2.33009556e-01 4.86181443e-02 1.14415127e+02] [-2.32718002e-01 9.72474445e-01 -1.16526620e-02 -2.00939876e+01] [-4.99950845e-02 3.42808594e-06 9.98749464e-01 -7.36231558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:-20.10, Z:-7.36 [[ 9.71020291e-01 2.34009624e-01 4.85704711e-02 1.14441724e+02] [-2.33720125e-01 9.72234279e-01 -1.16365853e-02 -2.01009714e+01] [-4.99449499e-02 -5.25361233e-05 9.98751971e-01 -7.36375351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:-20.11, Z:-7.37 [[ 9.70721561e-01 2.35275376e-01 4.84267314e-02 1.14469327e+02] [-2.34989345e-01 9.71928744e-01 -1.15985028e-02 -2.01070496e+01] [-4.97961744e-02 -1.20849121e-04 9.98759394e-01 -7.36540706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:-20.11, Z:-7.37 [[ 9.70046361e-01 2.38157788e-01 4.78636194e-02 1.14496646e+02] [-2.37882056e-01 9.71226439e-01 -1.14599982e-02 -2.01126253e+01] [-4.92157004e-02 -2.69166661e-04 9.98788137e-01 -7.36690577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:-20.12, Z:-7.37 [[ 9.69719205e-01 2.39482422e-01 4.78835307e-02 1.14522524e+02] [-2.39208248e-01 9.70900641e-01 -1.14612357e-02 -2.01187357e+01] [-4.92349152e-02 -3.39955168e-04 9.98787168e-01 -7.36927800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:114.55, Y:-20.13, Z:-7.37 [[ 9.69302762e-01 2.41046647e-01 4.84630674e-02 1.14549628e+02] [-2.40767979e-01 9.70513436e-01 -1.15952589e-02 -2.01251155e+01] [-4.98290564e-02 -4.29038284e-04 9.98757669e-01 -7.37340649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:-20.13, Z:-7.37 [[ 9.68601117e-01 2.43731985e-01 4.90570708e-02 1.14577330e+02] [-2.43450076e-01 9.69842454e-01 -1.17334974e-02 -2.01305490e+01] [-5.04374586e-02 -5.77868869e-04 9.98727054e-01 -7.37179119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:-20.14, Z:-7.37 [[ 9.68309831e-01 2.44831818e-01 4.93300370e-02 1.14604801e+02] [-2.44548384e-01 9.69565350e-01 -1.17949168e-02 -2.01359539e+01] [-5.07164655e-02 -6.42446899e-04 9.98712885e-01 -7.37332128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:-20.14, Z:-7.38 [[ 9.68048501e-01 2.45815314e-01 4.95674372e-02 1.14631490e+02] [-2.45530584e-01 9.69316430e-01 -1.18486848e-02 -2.01410141e+01] [-5.09591194e-02 -7.00220247e-04 9.98700495e-01 -7.37516841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:-20.15, Z:-7.38 [[ 9.67839539e-01 2.46776160e-01 4.88687445e-02 1.14658289e+02] [-2.46501008e-01 9.69072220e-01 -1.16741053e-02 -2.01458186e+01] [-5.02382336e-02 -7.47534128e-04 9.98736983e-01 -7.37699031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:-20.15, Z:-7.38 [[ 9.67887052e-01 2.46658773e-01 4.85191235e-02 1.14685974e+02] [-2.46387626e-01 9.69102111e-01 -1.15860376e-02 -2.01517713e+01] [-4.98777829e-02 -7.40535841e-04 9.98755054e-01 -7.37964135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-20.16, Z:-7.38 [[ 9.68032562e-01 2.46133510e-01 4.82830609e-02 1.14713158e+02] [-2.45864526e-01 9.69235671e-01 -1.15260041e-02 -2.01581643e+01] [-4.96346008e-02 -7.13544627e-04 9.98767189e-01 -7.38195180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:-20.16, Z:-7.38 [[ 9.68225382e-01 2.45298957e-01 4.86624140e-02 1.14740388e+02] [-2.45024864e-01 9.69447244e-01 -1.16127621e-02 -2.01646579e+01] [-5.00242416e-02 -6.79730319e-04 9.98747773e-01 -7.38347011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.77, Y:-20.17, Z:-7.39 [[ 9.68223227e-01 2.45009621e-01 5.01404870e-02 1.14766722e+02] [-2.44718429e-01 9.69520403e-01 -1.19615697e-02 -2.01703254e+01] [-5.15429248e-02 -6.88831559e-04 9.98670542e-01 -7.38758614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.79, Y:-20.18, Z:-7.39 [[ 9.68229404e-01 2.44863675e-01 5.07306881e-02 1.14794093e+02] [-2.44565640e-01 9.69557270e-01 -1.20974603e-02 -2.01763276e+01] [-5.21485361e-02 -6.93866452e-04 9.98639098e-01 -7.38891503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:-20.18, Z:-7.39 [[ 9.68265196e-01 2.44808312e-01 5.03130326e-02 1.14820421e+02] [-2.44515245e-01 9.69571254e-01 -1.19949208e-02 -2.01814623e+01] [-5.17185265e-02 -6.88039125e-04 9.98661464e-01 -7.38864121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:-20.19, Z:-7.39 [[ 9.68371850e-01 2.44505611e-01 4.97289295e-02 1.14847788e+02] [-2.44219308e-01 9.69647645e-01 -1.18479680e-02 -2.01867380e+01] [-5.11164341e-02 -6.71526033e-04 9.98692475e-01 -7.39084315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:-20.19, Z:-7.39 [[ 9.68435877e-01 2.44277515e-01 4.96029043e-02 1.14875389e+02] [-2.43992556e-01 9.69705140e-01 -1.18141770e-02 -2.01923320e+01] [-5.09861291e-02 -6.61466516e-04 9.98699142e-01 -7.39297176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.90, Y:-20.20, Z:-7.40 [[ 9.68546516e-01 2.43680710e-01 5.03722033e-02 1.14902020e+02] [-2.43386226e-01 9.69855297e-01 -1.19936454e-02 -2.01970643e+01] [-5.17763683e-02 -6.43496950e-04 9.98658497e-01 -7.39710032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:-20.20, Z:-7.40 [[ 9.68555318e-01 2.43715584e-01 5.00330966e-02 1.14928826e+02] [-2.43425328e-01 9.69846533e-01 -1.19084878e-02 -2.02027964e+01] [-5.14267094e-02 -6.45293724e-04 9.98676563e-01 -7.39724052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:-20.21, Z:-7.40 [[ 9.68568282e-01 2.43675103e-01 4.99792631e-02 1.14956173e+02] [-2.43385655e-01 9.69856704e-01 -1.18910668e-02 -2.02090636e+01] [-5.13702803e-02 -6.46925558e-04 9.98679466e-01 -7.39889451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-20.22, Z:-7.40 [[ 9.68596829e-01 2.43561468e-01 4.99799300e-02 1.14983857e+02] [-2.43272013e-01 9.69885249e-01 -1.18882633e-02 -2.02154827e+01] [-5.13703197e-02 -6.43784010e-04 9.98679466e-01 -7.40081349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:-20.22, Z:-7.40 [[ 9.68480003e-01 2.43988681e-01 5.01598158e-02 1.15010854e+02] [-2.43698072e-01 9.69777844e-01 -1.19240488e-02 -2.02225973e+01] [-5.15532110e-02 -6.75647591e-04 9.98670021e-01 -7.40233582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:-20.23, Z:-7.40 [[ 9.68390146e-01 2.44419517e-01 4.97958318e-02 1.15038410e+02] [-2.44133870e-01 9.69669332e-01 -1.18338399e-02 -2.02279243e+01] [-5.11779124e-02 -6.97075197e-04 9.98689309e-01 -7.40377906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:-20.23, Z:-7.41 [[ 9.68278988e-01 2.44914104e-01 4.95265948e-02 1.15064949e+02] [-2.44632367e-01 9.69544511e-01 -1.17663034e-02 -2.02324948e+01] [-5.08999718e-02 -7.22743782e-04 9.98703495e-01 -7.40556460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:-20.24, Z:-7.41 [[ 9.68082421e-01 2.45579594e-01 5.00708465e-02 1.15093036e+02] [-2.45292756e-01 9.69376124e-01 -1.18909474e-02 -2.02364283e+01] [-5.14576571e-02 -7.70598800e-04 9.98674880e-01 -7.40811087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.12, Y:-20.24, Z:-7.41 [[ 9.68088950e-01 2.45399564e-01 5.08216419e-02 1.15120722e+02] [-2.45104015e-01 9.69421710e-01 -1.20652601e-02 -2.02418751e+01] [-5.22284126e-02 -7.76343524e-04 9.98634863e-01 -7.41275537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:-20.25, Z:-7.41 [[ 9.68140509e-01 2.45215829e-01 5.07262538e-02 1.15148519e+02] [-2.44921340e-01 9.69468208e-01 -1.20387118e-02 -2.02479607e+01] [-5.21295730e-02 -7.68777527e-04 9.98640034e-01 -7.41253543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:-20.25, Z:-7.41 [[ 9.68504348e-01 2.43700931e-01 5.10801690e-02 1.15174489e+02] [-2.43400413e-01 9.69850180e-01 -1.21188667e-02 -2.02547568e+01] [-5.24934902e-02 -6.95759073e-04 9.98621024e-01 -7.41482555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:-20.26, Z:-7.42 [[ 9.68726939e-01 2.42802262e-01 5.11388200e-02 1.15202078e+02] [-2.42500056e-01 9.70075582e-01 -1.21279520e-02 -2.02611155e+01] [-5.25532148e-02 -6.52492911e-04 9.98617912e-01 -7.41658992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.23, Y:-20.27, Z:-7.42 [[ 9.68989296e-01 2.41857591e-01 5.06423693e-02 1.15229724e+02] [-2.41560137e-01 9.70311572e-01 -1.20063958e-02 -2.02666579e+01] [-5.20427149e-02 -5.99108664e-04 9.98644680e-01 -7.41978481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:-20.27, Z:-7.42 [[ 9.69242619e-01 2.40950195e-01 5.01173433e-02 1.15256044e+02] [-2.40657859e-01 9.70537327e-01 -1.18782306e-02 -2.02718334e+01] [-5.15028144e-02 -5.48245228e-04 9.98672699e-01 -7.42089094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:-20.28, Z:-7.42 [[ 9.69732552e-01 2.38858697e-01 5.06488015e-02 1.15283727e+02] [-2.38557523e-01 9.71054233e-01 -1.19993549e-02 -2.02776403e+01] [-5.20488833e-02 -4.46487613e-04 9.98644438e-01 -7.42307217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40264 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:115.31, Y:-20.28, Z:-7.43 [[ 9.69946319e-01 2.37795781e-01 5.15490522e-02 1.15310828e+02] [-2.37482519e-01 9.71315091e-01 -1.22084888e-02 -2.02839000e+01] [-5.29734995e-02 -4.00420006e-04 9.98595838e-01 -7.42719889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.34, Y:-20.29, Z:-7.43 [[ 9.70204431e-01 2.36812178e-01 5.12186878e-02 1.15337134e+02] [-2.36501724e-01 9.71555388e-01 -1.21269570e-02 -2.02903817e+01] [-5.26336031e-02 -3.47680565e-04 9.98613831e-01 -7.42811774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:-20.30, Z:-7.43 [[ 9.70626997e-01 2.35265646e-01 5.03319911e-02 1.15364958e+02] [-2.34964141e-01 9.71931070e-01 -1.19099646e-02 -2.02958614e+01] [-5.17212315e-02 -2.66079875e-04 9.98661526e-01 -7.42890914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:-20.30, Z:-7.43 [[ 9.70705967e-01 2.34805702e-01 5.09530009e-02 1.15391507e+02] [-2.34496238e-01 9.72042294e-01 -1.20537765e-02 -2.03020900e+01] [-5.23587674e-02 -2.47614255e-04 9.98628308e-01 -7.43069108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:-20.31, Z:-7.43 [[ 9.70808804e-01 2.34150205e-01 5.19995061e-02 1.15418983e+02] [-2.33827386e-01 9.72200407e-01 -1.22931872e-02 -2.03090668e+01] [-5.34323933e-02 -2.24574231e-04 9.98571444e-01 -7.43282615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:-20.32, Z:-7.43 [[ 9.70888415e-01 2.33634183e-01 5.28275925e-02 1.15446295e+02] [-2.33300448e-01 9.72324548e-01 -1.24849220e-02 -2.03163068e+01] [-5.42824696e-02 -2.03234911e-04 9.98525599e-01 -7.43441015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:-20.32, Z:-7.44 [[ 9.70976352e-01 2.33263830e-01 5.28479797e-02 1.15472656e+02] [-2.32929507e-01 9.72413467e-01 -1.24857521e-02 -2.03205058e+01] [-5.43025615e-02 -1.86483837e-04 9.98524510e-01 -7.43578211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:-20.33, Z:-7.44 [[ 9.71038071e-01 2.32978662e-01 5.29717686e-02 1.15500399e+02] [-2.32642619e-01 9.72481831e-01 -1.25099965e-02 -2.03257985e+01] [-5.44286448e-02 -1.75808136e-04 9.98517647e-01 -7.43799908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:-20.33, Z:-7.44 [[ 9.71007631e-01 2.32994882e-01 5.34562011e-02 1.15527604e+02] [-2.32652915e-01 9.72477944e-01 -1.26201966e-02 -2.03327623e+01] [-5.49254178e-02 -1.82433776e-04 9.98490443e-01 -7.43953800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:-20.34, Z:-7.44 [[ 9.71098190e-01 2.32400411e-01 5.43907522e-02 1.15554285e+02] [-2.32045682e-01 9.72620185e-01 -1.28365367e-02 -2.03419874e+01] [-5.58847599e-02 -1.55601659e-04 9.98437214e-01 -7.44144677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:-20.35, Z:-7.44 [[ 9.71184536e-01 2.32076962e-01 5.42298880e-02 1.15581551e+02] [-2.31724061e-01 9.72697416e-01 -1.27943535e-02 -2.03494918e+01] [-5.57185466e-02 -1.40691630e-04 9.98446505e-01 -7.44342152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.61, Y:-20.36, Z:-7.45 [[ 9.71329441e-01 2.31336592e-01 5.47950653e-02 1.15606917e+02] [-2.30975351e-01 9.72873769e-01 -1.29234823e-02 -2.03565379e+01] [-5.62983560e-02 -1.03350639e-04 9.98413984e-01 -7.44724380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:-20.36, Z:-7.45 [[ 9.71665718e-01 2.29605446e-01 5.60987700e-02 1.15633156e+02] [-2.29224231e-01 9.73283792e-01 -1.32254666e-02 -2.03649210e+01] [-5.76366627e-02 -8.46486295e-06 9.98337626e-01 -7.44617835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:-20.37, Z:-7.45 [[ 9.71848721e-01 2.28662156e-01 5.67774706e-02 1.15660283e+02] [-2.28270254e-01 9.73505838e-01 -1.33818916e-02 -2.03715765e+01] [-5.83331313e-02 4.45665931e-05 9.98297172e-01 -7.44825568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:-20.38, Z:-7.45 [[ 9.72013643e-01 2.27904563e-01 5.69998874e-02 1.15687487e+02] [-2.27508533e-01 9.73683471e-01 -1.34299904e-02 -2.03784140e+01] [-5.85606043e-02 8.61730727e-05 9.98283852e-01 -7.45050991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:-20.39, Z:-7.45 [[ 9.72303077e-01 2.26836541e-01 5.63197171e-02 1.15714678e+02] [-2.26448385e-01 9.73932833e-01 -1.32652087e-02 -2.03881007e+01] [-5.78606557e-02 1.44294202e-04 9.98324658e-01 -7.45300583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:-20.40, Z:-7.46 [[ 9.72417796e-01 2.26414015e-01 5.60385985e-02 1.15740976e+02] [-2.26029185e-01 9.74031142e-01 -1.31962518e-02 -2.03968965e+01] [-5.75711565e-02 1.65911319e-04 9.98341392e-01 -7.45518681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:-20.41, Z:-7.46 [[ 9.72345555e-01 2.26723345e-01 5.60414780e-02 1.15767847e+02] [-2.26339201e-01 9.73959190e-01 -1.31932430e-02 -2.04068420e+01] [-5.75733287e-02 1.44007809e-04 9.98341270e-01 -7.45747470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.80, Y:-20.41, Z:-7.46 [[ 9.72218085e-01 2.27318319e-01 5.58424321e-02 1.15795563e+02] [-2.26938046e-01 9.73820502e-01 -1.31435340e-02 -2.04143340e+01] [-5.73682713e-02 1.05609048e-04 9.98353079e-01 -7.46095509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-20.42, Z:-7.46 [[ 9.72087519e-01 2.28072793e-01 5.50332360e-02 1.15822787e+02] [-2.27704830e-01 9.73644082e-01 -1.29503952e-02 -2.04216785e+01] [-5.65364173e-02 5.75839321e-05 9.98400536e-01 -7.46150830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:-20.43, Z:-7.46 [[ 9.71864568e-01 2.29138261e-01 5.45428193e-02 1.15850482e+02] [-2.28778711e-01 9.73393886e-01 -1.28313670e-02 -2.04287258e+01] [-5.60318039e-02 -7.88497077e-06 9.98428984e-01 -7.46404856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:-20.44, Z:-7.47 [[ 9.71540048e-01 2.30495428e-01 5.46057965e-02 1.15876989e+02] [-2.30137337e-01 9.73073404e-01 -1.28435379e-02 -2.04361679e+01] [-5.60958251e-02 -8.88212023e-05 9.98425386e-01 -7.46680959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.90, Y:-20.45, Z:-7.47 [[ 9.71100142e-01 2.32430077e-01 5.42288969e-02 1.15903814e+02] [-2.32080149e-01 9.72613088e-01 -1.27509268e-02 -2.04463970e+01] [-5.57074337e-02 -2.03023693e-04 9.98447115e-01 -7.47080822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:115.93, Y:-20.45, Z:-7.47 [[ 9.70970818e-01 2.33044942e-01 5.39047931e-02 1.15930903e+02] [-2.32700287e-01 9.72465937e-01 -1.26719690e-02 -2.04544568e+01] [-5.53737134e-02 -2.39548669e-04 9.98465670e-01 -7.47378293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.96, Y:-20.46, Z:-7.48 [[ 9.70832022e-01 2.33844092e-01 5.29351065e-02 1.15957303e+02] [-2.33513054e-01 9.72274067e-01 -1.24415751e-02 -2.04621714e+01] [-5.43768201e-02 -2.82358847e-04 9.98520446e-01 -7.47616255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-20.47, Z:-7.48 [[ 9.70775408e-01 2.34259574e-01 5.21302238e-02 1.15984480e+02] [-2.33939324e-01 9.72174038e-01 -1.22487942e-02 -2.04692712e+01] [-5.35490474e-02 -3.04481141e-04 9.98565174e-01 -7.47634097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.01, Y:-20.48, Z:-7.48 [[ 9.70716326e-01 2.34584073e-01 5.17699370e-02 1.16011052e+02] [-2.34268864e-01 9.72095781e-01 -1.21610526e-02 -2.04758667e+01] [-5.31781266e-02 -3.23152020e-04 9.98584990e-01 -7.48003067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21264000000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:116.04, Y:-20.49, Z:-7.48 [[ 9.70810263e-01 2.34127146e-01 5.20760215e-02 1.16038250e+02] [-2.33807774e-01 9.72205939e-01 -1.22285626e-02 -2.04853491e+01] [-5.34916558e-02 -3.04164595e-04 9.98568250e-01 -7.48243079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:-20.49, Z:-7.48 [[ 9.70890322e-01 2.33651143e-01 5.27174191e-02 1.16066202e+02] [-2.33323299e-01 9.72320453e-01 -1.23764104e-02 -2.04943910e+01] [-5.41499872e-02 -2.84065062e-04 9.98532773e-01 -7.48244609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.09, Y:-20.50, Z:-7.49 [[ 9.71104973e-01 2.32415849e-01 5.42033682e-02 1.16093165e+02] [-2.32067486e-01 9.72616483e-01 -1.27223826e-02 -2.05040510e+01] [-5.56759727e-02 -2.24070355e-04 9.98448865e-01 -7.48597024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:116.12, Y:-20.51, Z:-7.49 [[ 9.71252194e-01 2.31719755e-01 5.45447572e-02 1.16120812e+02] [-2.31366047e-01 9.72782565e-01 -1.27997134e-02 -2.05117330e+01] [-5.60261353e-02 -1.88055156e-04 9.98429285e-01 -7.48773674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.15, Y:-20.52, Z:-7.49 [[ 9.71384126e-01 2.31196998e-01 5.44134808e-02 1.16148131e+02] [-2.30844346e-01 9.72906944e-01 -1.27658083e-02 -2.05189383e+01] [-5.58906699e-02 -1.60540792e-04 9.98436882e-01 -7.48947094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:-20.53, Z:-7.49 [[ 9.71507023e-01 2.30695056e-01 5.43497469e-02 1.16176077e+02] [-2.30342561e-01 9.73026091e-01 -1.27487747e-02 -2.05266712e+01] [-5.58248011e-02 -1.33535717e-04 9.98440571e-01 -7.48972778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.20, Y:-20.54, Z:-7.49 [[ 9.71721590e-01 2.29656595e-01 5.49090155e-02 1.16202890e+02] [-2.29295302e-01 9.73271721e-01 -1.28771872e-02 -2.05359970e+01] [-5.63987229e-02 -7.73384847e-05 9.98408322e-01 -7.49344924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:-20.54, Z:-7.49 [[ 9.71837971e-01 2.29148686e-01 5.49712412e-02 1.16229249e+02] [-2.28785912e-01 9.73391431e-01 -1.28891287e-02 -2.05448602e+01] [-5.64620620e-02 -5.05008252e-05 9.98404744e-01 -7.49407835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:-20.55, Z:-7.50 [[ 9.71948959e-01 2.28678005e-01 5.49689944e-02 1.16257330e+02] [-2.28314725e-01 9.73502116e-01 -1.28847529e-02 -2.05530278e+01] [-5.64588920e-02 -2.69087450e-05 9.98404924e-01 -7.49549898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-20.56, Z:-7.50 [[ 9.71999131e-01 2.28479825e-01 5.49059023e-02 1.16284949e+02] [-2.28117136e-01 9.73548648e-01 -1.28686760e-02 -2.05601413e+01] [-5.63937998e-02 -1.66352967e-05 9.98408603e-01 -7.49718656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:-20.57, Z:-7.50 [[ 9.72110111e-01 2.28014241e-01 5.48765749e-02 1.16312382e+02] [-2.27651325e-01 9.73657797e-01 -1.28595607e-02 -2.05673035e+01] [-5.63631680e-02 8.18399558e-06 9.98410333e-01 -7.49899981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:-20.57, Z:-7.50 [[ 9.72227150e-01 2.27449844e-01 5.51446981e-02 1.16339956e+02] [-2.27082542e-01 9.73789796e-01 -1.29209990e-02 -2.05745048e+01] [-5.66382235e-02 3.97478635e-05 9.98394767e-01 -7.50139110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.37, Y:-20.58, Z:-7.50 [[ 9.72393573e-01 2.26779049e-01 5.49727428e-02 1.16368248e+02] [-2.26413135e-01 9.73946229e-01 -1.28776982e-02 -2.05826195e+01] [-5.64608877e-02 7.56399082e-05 9.98404809e-01 -7.50460819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:-20.59, Z:-7.51 [[ 9.72735003e-01 2.25552570e-01 5.39689926e-02 1.16397293e+02] [-2.25198110e-01 9.74230988e-01 -1.26409496e-02 -2.05934869e+01] [-5.54294636e-02 1.42578977e-04 9.98462595e-01 -7.50599439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:-20.60, Z:-7.51 [[ 9.72856813e-01 2.25070217e-01 5.37867867e-02 1.16425998e+02] [-2.24717403e-01 9.74342531e-01 -1.25984240e-02 -2.06013964e+01] [-5.52422840e-02 1.69635643e-04 9.98472965e-01 -7.50816793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:-20.61, Z:-7.51 [[ 9.72899167e-01 2.24845953e-01 5.39583896e-02 1.16453805e+02] [-2.24490559e-01 9.74394306e-01 -1.26382154e-02 -2.06086879e+01] [-5.54183992e-02 1.82560203e-04 9.98463203e-01 -7.50995655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.48, Y:-20.62, Z:-7.51 [[ 9.73037161e-01 2.24229023e-01 5.40372794e-02 1.16481832e+02] [-2.23871754e-01 9.74536453e-01 -1.26546169e-02 -2.06155712e+01] [-5.54988310e-02 2.15992027e-04 9.98458729e-01 -7.51390476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:-20.62, Z:-7.51 [[ 9.73120516e-01 2.23704669e-01 5.47054205e-02 1.16512649e+02] [-2.23337831e-01 9.74656945e-01 -1.28083174e-02 -2.06236651e+01] [-5.61842984e-02 2.46246508e-04 9.98420384e-01 -7.51395008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:-20.63, Z:-7.52 [[ 9.73216719e-01 2.22981611e-01 5.59322794e-02 1.16541911e+02] [-2.22596834e-01 9.74822606e-01 -1.30971769e-02 -2.06311439e+01] [-5.74444800e-02 2.96043225e-04 9.98348659e-01 -7.51557164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:-20.64, Z:-7.52 [[ 9.73669258e-01 2.20777963e-01 5.67914355e-02 1.16571754e+02] [-2.20377479e-01 9.75323999e-01 -1.32989891e-02 -2.06397051e+01] [-5.83261737e-02 4.33263439e-04 9.98297486e-01 -7.51761473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:-20.65, Z:-7.52 [[ 9.73927865e-01 2.19896811e-01 5.57665339e-02 1.16600859e+02] [-2.19509134e-01 9.75523020e-01 -1.30605081e-02 -2.06472022e+01] [-5.72735017e-02 4.78729150e-04 9.98358411e-01 -7.51967797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:-20.66, Z:-7.52 [[ 9.74179613e-01 2.19007235e-01 5.48626783e-02 1.16630623e+02] [-2.18630676e-01 9.75723096e-01 -1.28478912e-02 -2.06562056e+01] [-5.63445634e-02 5.21489260e-04 9.98411247e-01 -7.52263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:-20.66, Z:-7.52 [[ 9.74176165e-01 2.18973459e-01 5.50583716e-02 1.16660566e+02] [-2.18593558e-01 9.75730669e-01 -1.29042183e-02 -2.06640521e+01] [-5.65478230e-02 5.35576515e-04 9.98399748e-01 -7.52478158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:-20.67, Z:-7.53 [[ 9.74077881e-01 2.19376667e-01 5.51920203e-02 1.16689538e+02] [-2.18995479e-01 9.75640104e-01 -1.29370566e-02 -2.06713706e+01] [-5.66856368e-02 5.14897784e-04 9.98391944e-01 -7.52633674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-20.68, Z:-7.53 [[ 9.73938101e-01 2.19953837e-01 5.53614094e-02 1.16719786e+02] [-2.19571202e-01 9.75510162e-01 -1.29773281e-02 -2.06784101e+01] [-5.68600305e-02 4.83343099e-04 9.98382043e-01 -7.52800093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:-20.69, Z:-7.53 [[ 9.73935504e-01 2.19965420e-01 5.53610751e-02 1.16749899e+02] [-2.19582723e-01 9.75507550e-01 -1.29787538e-02 -2.06854750e+01] [-5.68600238e-02 4.84133464e-04 9.98382043e-01 -7.53008923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:-20.69, Z:-7.53 [[ 9.73705915e-01 2.21014813e-01 5.52199648e-02 1.16779705e+02] [-2.20635713e-01 9.75270359e-01 -1.29463593e-02 -2.06931603e+01] [-5.67157321e-02 4.22450332e-04 9.98390278e-01 -7.53118072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:-20.70, Z:-7.53 [[ 9.73681320e-01 2.21055869e-01 5.54886513e-02 1.16808808e+02] [-2.20673087e-01 9.75261054e-01 -1.30101708e-02 -2.07004454e+01] [-5.69918952e-02 4.22908349e-04 9.98374551e-01 -7.53319682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:-20.71, Z:-7.54 [[ 9.73652204e-01 2.21210951e-01 5.53814162e-02 1.16837556e+02] [-2.20829907e-01 9.75225894e-01 -1.29848884e-02 -2.07065287e+01] [-5.68817907e-02 4.12892224e-04 9.98380835e-01 -7.53524622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-20.71, Z:-7.54 [[ 9.73755392e-01 2.20808266e-01 5.51737764e-02 1.16866507e+02] [-2.20429373e-01 9.75317138e-01 -1.29372243e-02 -2.07118206e+01] [-5.66685757e-02 4.35770985e-04 9.98392950e-01 -7.53692407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:-20.72, Z:-7.54 [[ 9.74121418e-01 2.19167086e-01 5.52562332e-02 1.16895399e+02] [-2.18784458e-01 9.75687197e-01 -1.29558881e-02 -2.07178426e+01] [-5.67523035e-02 5.31403080e-04 9.98388148e-01 -7.53898232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:-20.73, Z:-7.54 [[ 9.74402154e-01 2.17653595e-01 5.62792565e-02 1.16926026e+02] [-2.17254192e-01 9.76025879e-01 -1.31947199e-02 -2.07262570e+01] [-5.78018890e-02 6.30059127e-04 9.98327874e-01 -7.54139810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17264000000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:116.96, Y:-20.74, Z:-7.55 [[ 9.75063404e-01 2.14805042e-01 5.57687343e-02 1.16957790e+02] [-2.14408225e-01 9.76656627e-01 -1.30745987e-02 -2.07354248e+01] [-5.72753937e-02 7.91287313e-04 9.98358104e-01 -7.54564193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:-20.74, Z:-7.55 [[ 9.75282645e-01 2.13936296e-01 5.52722730e-02 1.16988507e+02] [-2.13544468e-01 9.76847248e-01 -1.29697662e-02 -2.07437002e+01] [-5.67672715e-02 8.46099695e-04 9.98387080e-01 -7.54613967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-20.75, Z:-7.55 [[ 9.75456185e-01 2.13301254e-01 5.46608364e-02 1.17020416e+02] [-2.12916470e-01 9.76986077e-01 -1.28367524e-02 -2.07523412e+01] [-5.61409715e-02 8.83497155e-04 9.98422461e-01 -7.54837097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-20.76, Z:-7.55 [[ 9.75586104e-01 2.12892330e-01 5.39315277e-02 1.17051244e+02] [-2.12516484e-01 9.77075245e-01 -1.26771201e-02 -2.07610551e+01] [-5.53940223e-02 9.06283560e-04 9.98464161e-01 -7.55104450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:-20.77, Z:-7.55 [[ 9.75469750e-01 2.13571100e-01 5.33493323e-02 1.17080082e+02] [-2.13203905e-01 9.76927139e-01 -1.25483128e-02 -2.07678999e+01] [-5.47983676e-02 8.66213539e-04 9.98497065e-01 -7.55334996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:-20.78, Z:-7.56 [[ 9.74854655e-01 2.16430722e-01 5.30673568e-02 1.17112507e+02] [-2.16071727e-01 9.76297727e-01 -1.24802460e-02 -2.07757612e+01] [-5.45106485e-02 7.00070452e-04 9.98512944e-01 -7.55541047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:-20.78, Z:-7.56 [[ 9.74442584e-01 2.18153901e-01 5.35772872e-02 1.17143621e+02] [-2.17789897e-01 9.75914181e-01 -1.26123630e-02 -2.07834750e+01] [-5.50382705e-02 6.21431712e-04 9.98484052e-01 -7.55691734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-20.79, Z:-7.56 [[ 9.73975698e-01 2.20187422e-01 5.37479241e-02 1.17173485e+02] [-2.19823823e-01 9.75457449e-01 -1.26590755e-02 -2.07908023e+01] [-5.52161822e-02 5.14557770e-04 9.98474290e-01 -7.55893070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:-20.80, Z:-7.56 [[ 9.73579363e-01 2.21945460e-01 5.36976380e-02 1.17204091e+02] [-2.21584623e-01 9.75058989e-01 -1.26578917e-02 -2.07980627e+01] [-5.51677263e-02 4.24891202e-04 9.98477011e-01 -7.56102263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:-20.81, Z:-7.56 [[ 9.73165687e-01 2.23809048e-01 5.34607859e-02 1.17233931e+02] [-2.23454146e-01 9.74632961e-01 -1.26030195e-02 -2.08050145e+01] [-5.49253139e-02 3.18791911e-04 9.98490415e-01 -7.56326718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:-20.81, Z:-7.56 [[ 9.72379316e-01 2.27205374e-01 5.34432747e-02 1.17263978e+02] [-2.26855610e-01 9.73846857e-01 -1.26028226e-02 -2.08103334e+01] [-5.49089941e-02 1.30817324e-04 9.98491355e-01 -7.56490187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.29, Y:-20.81, Z:-7.57 [[ 9.72041143e-01 2.28691322e-01 5.32568860e-02 1.17291902e+02] [-2.28346198e-01 9.73498987e-01 -1.25593415e-02 -2.08147385e+01] [-5.47177370e-02 4.71892479e-05 9.98501861e-01 -7.56792284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-20.82, Z:-7.57 [[ 9.71706632e-01 2.30064255e-01 5.34477262e-02 1.17321310e+02] [-2.29718847e-01 9.73175440e-01 -1.26021290e-02 -2.08210748e+01] [-5.49133139e-02 -3.23776633e-05 9.98491125e-01 -7.56912143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:-20.83, Z:-7.57 [[ 9.71460561e-01 2.31035882e-01 5.37289481e-02 1.17349292e+02] [-2.30688380e-01 9.72945226e-01 -1.26672047e-02 -2.08280618e+01] [-5.52019024e-02 -8.89541596e-05 9.98475209e-01 -7.57149368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:-20.83, Z:-7.57 [[ 9.71410574e-01 2.31163860e-01 5.40811116e-02 1.17378618e+02] [-2.30812106e-01 9.72914827e-01 -1.27479975e-02 -2.08340907e+01] [-5.55631917e-02 -9.90357167e-05 9.98455168e-01 -7.57359410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:-20.84, Z:-7.58 [[ 9.71446047e-01 2.30961540e-01 5.43078707e-02 1.17406918e+02] [-2.30606573e-01 9.72962876e-01 -1.28003674e-02 -2.08384884e+01] [-5.57959347e-02 -8.88856235e-05 9.98442190e-01 -7.57524069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:117.44, Y:-20.84, Z:-7.58 [[ 9.71709043e-01 2.29836522e-01 5.43756302e-02 1.17436107e+02] [-2.29479059e-01 9.73229250e-01 -1.28136367e-02 -2.08412251e+01] [-5.58649955e-02 -2.69418373e-05 9.98438331e-01 -7.57839904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:-20.85, Z:-7.58 [[ 9.71907221e-01 2.28841116e-01 5.50281572e-02 1.17463807e+02] [-2.28473576e-01 9.73463786e-01 -1.29646483e-02 -2.08481518e+01] [-5.65347629e-02 2.79554324e-05 9.98400631e-01 -7.57892660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:-20.86, Z:-7.58 [[ 9.72623711e-01 2.25863493e-01 5.46699151e-02 1.17492049e+02] [-2.25496189e-01 9.74158942e-01 -1.28773026e-02 -2.08567223e+01] [-5.61656992e-02 1.96912356e-04 9.98421442e-01 -7.58150952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:-20.86, Z:-7.58 [[ 9.73118146e-01 2.23815373e-01 5.42932089e-02 1.17520791e+02] [-2.23450005e-01 9.74631511e-01 -1.27872458e-02 -2.08640156e+01] [-5.57778544e-02 3.11683094e-04 9.98443155e-01 -7.58348776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:-20.87, Z:-7.59 [[ 9.73549770e-01 2.21856363e-01 5.45948748e-02 1.17551003e+02] [-2.21483949e-01 9.75079266e-01 -1.28563782e-02 -2.08720566e+01] [-5.60865998e-02 4.24435571e-04 9.98425818e-01 -7.58561256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:-20.88, Z:-7.59 [[ 9.74210176e-01 2.18857063e-01 5.49192012e-02 1.17580808e+02] [-2.18475446e-01 9.75756745e-01 -1.29326858e-02 -2.08811987e+01] [-5.64181906e-02 6.00657117e-04 9.98407045e-01 -7.58802925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83264000000001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:117.61, Y:-20.89, Z:-7.59 [[ 9.74530429e-01 2.17624794e-01 5.41284767e-02 1.17610528e+02] [-2.17251705e-01 9.76032273e-01 -1.27553021e-02 -2.08887202e+01] [-5.56070102e-02 6.70926195e-04 9.98452508e-01 -7.59168636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:-20.90, Z:-7.59 [[ 9.74727436e-01 2.16712250e-01 5.42422930e-02 1.17641086e+02] [-2.16335594e-01 9.76235249e-01 -1.27925715e-02 -2.08975310e+01] [-5.57255454e-02 7.34731766e-04 9.98445854e-01 -7.59228675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.67, Y:-20.91, Z:-7.60 [[ 9.74854469e-01 2.16112483e-01 5.43521855e-02 1.17670554e+02] [-2.15733283e-01 9.76368168e-01 -1.28199773e-02 -2.09057794e+01] [-5.58383009e-02 7.72036753e-04 9.98439527e-01 -7.59562368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:-20.92, Z:-7.60 [[ 9.74859677e-01 2.15872721e-01 5.52048861e-02 1.17699937e+02] [-2.15481182e-01 9.76421186e-01 -1.30202752e-02 -2.09175748e+01] [-5.67139426e-02 7.97327126e-04 9.98390151e-01 -7.59606327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:-20.93, Z:-7.60 [[ 9.74850039e-01 2.15935675e-01 5.51288192e-02 1.17731956e+02] [-2.15544846e-01 9.76407263e-01 -1.30106156e-02 -2.09274743e+01] [-5.66376356e-02 8.00666227e-04 9.98394480e-01 -7.59823576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:-20.94, Z:-7.60 [[ 9.74792112e-01 2.16151133e-01 5.53084709e-02 1.17762059e+02] [-2.15757444e-01 9.76359588e-01 -1.30644820e-02 -2.09368729e+01] [-5.68248584e-02 8.01939702e-04 9.98383840e-01 -7.60034860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-20.95, Z:-7.60 [[ 9.74735661e-01 2.16298803e-01 5.57244862e-02 1.17792554e+02] [-2.15898790e-01 9.76326878e-01 -1.31734835e-02 -2.09485411e+01] [-5.72547223e-02 8.09815000e-04 9.98359275e-01 -7.60274002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:-20.96, Z:-7.61 [[ 9.74712247e-01 2.16525976e-01 5.52497663e-02 1.17823729e+02] [-2.16132545e-01 9.76276530e-01 -1.30713730e-02 -2.09579793e+01] [-5.67693419e-02 7.99554768e-04 9.98387000e-01 -7.60524926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:-20.97, Z:-7.61 [[ 9.74729264e-01 2.16647583e-01 5.44672917e-02 1.17853972e+02] [-2.16264778e-01 9.76249557e-01 -1.28976368e-02 -2.09671943e+01] [-5.59679112e-02 7.92347322e-04 9.98432254e-01 -7.60755353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:117.88, Y:-20.98, Z:-7.61 [[ 9.74660178e-01 2.17151752e-01 5.36903530e-02 1.17884259e+02] [-2.16779991e-01 9.76137559e-01 -1.27240111e-02 -2.09765275e+01] [-5.51722115e-02 7.62592642e-04 9.98476562e-01 -7.61164313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:-20.99, Z:-7.61 [[ 9.74280601e-01 2.18953870e-01 5.32589300e-02 1.17915292e+02] [-2.18590199e-01 9.75734985e-01 -1.26318808e-02 -2.09900013e+01] [-5.47324004e-02 6.65116248e-04 9.98500837e-01 -7.61249730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:-21.00, Z:-7.61 [[ 9.73898825e-01 2.20618455e-01 5.33720563e-02 1.17947344e+02] [-2.20255130e-01 9.75360014e-01 -1.26696765e-02 -2.09995148e+01] [-5.48521340e-02 5.83513789e-04 9.98494318e-01 -7.61474124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:-21.01, Z:-7.62 [[ 9.73439551e-01 2.22586313e-01 5.35796083e-02 1.17979054e+02] [-2.22222528e-01 9.74912867e-01 -1.27298915e-02 -2.10081530e+01] [-5.50689492e-02 4.85183838e-04 9.98482436e-01 -7.61689688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.01, Y:-21.02, Z:-7.62 [[ 9.72427380e-01 2.27010139e-01 5.33983887e-02 1.18009544e+02] [-2.26654846e-01 9.73892364e-01 -1.26981956e-02 -2.10175264e+01] [-5.48869022e-02 2.45069557e-04 9.98492548e-01 -7.62048531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:-21.03, Z:-7.62 [[ 9.71793216e-01 2.29641324e-01 5.36917815e-02 1.18041291e+02] [-2.29285543e-01 9.73275321e-01 -1.27784572e-02 -2.10271972e+01] [-5.51913477e-02 1.07268732e-04 9.98475790e-01 -7.62047556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:-21.04, Z:-7.62 [[ 9.71192784e-01 2.32048430e-01 5.42042634e-02 1.18073015e+02] [-2.31688932e-01 9.72704233e-01 -1.29117388e-02 -2.10358660e+01] [-5.57208652e-02 -1.87403456e-05 9.98446386e-01 -7.62236056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:-21.05, Z:-7.62 [[ 9.70038556e-01 2.36420005e-01 5.59533843e-02 1.18103891e+02] [-2.36043468e-01 9.71650920e-01 -1.33405838e-02 -2.10450856e+01] [-5.75211382e-02 -2.66550246e-04 9.98344253e-01 -7.62371856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:-21.05, Z:-7.63 [[ 9.69490663e-01 2.38475316e-01 5.67219301e-02 1.18134906e+02] [-2.38091208e-01 9.71148484e-01 -1.35351271e-02 -2.10527631e+01] [-5.83132101e-02 -3.82813496e-04 9.98298264e-01 -7.62560630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:-21.06, Z:-7.63 [[ 9.69004602e-01 2.40324490e-01 5.72208033e-02 1.18164707e+02] [-2.39936191e-01 9.70692485e-01 -1.36646552e-02 -2.10599395e+01] [-5.88277551e-02 -4.88227844e-04 9.98268029e-01 -7.62748779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.20, Y:-21.07, Z:-7.63 [[ 9.68464479e-01 2.42387830e-01 5.76601562e-02 1.18195991e+02] [-2.41996626e-01 9.70179246e-01 -1.37791210e-02 -2.10660593e+01] [-5.92805781e-02 -6.08974038e-04 9.98241174e-01 -7.63160113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:-21.07, Z:-7.63 [[ 9.68248908e-01 2.43049399e-01 5.84896729e-02 1.18226569e+02] [-2.42647390e-01 9.70013695e-01 -1.39883768e-02 -2.10734514e+01] [-6.01356503e-02 -6.48135908e-04 9.98190004e-01 -7.63222087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:-21.08, Z:-7.63 [[ 9.68103923e-01 2.43646916e-01 5.84035445e-02 1.18258055e+02] [-2.43246871e-01 9.69863763e-01 -1.39728696e-02 -2.10814018e+01] [-6.00479280e-02 -6.79289554e-04 9.98195264e-01 -7.63424572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:-21.09, Z:-7.64 [[ 9.67883756e-01 2.44623417e-01 5.79691134e-02 1.18288579e+02] [-2.44230332e-01 9.69617895e-01 -1.38810440e-02 -2.10901825e+01] [-5.96035181e-02 -7.22578782e-04 9.98221868e-01 -7.63642827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:-21.10, Z:-7.64 [[ 9.67794711e-01 2.45071500e-01 5.75617648e-02 1.18320356e+02] [-2.44684049e-01 9.69504730e-01 -1.37947506e-02 -2.10974824e+01] [-5.91871034e-02 -7.33959003e-04 9.98246637e-01 -7.63836295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:-21.10, Z:-7.64 [[ 9.67772661e-01 2.45323097e-01 5.68564336e-02 1.18352002e+02] [-2.44944932e-01 9.69441099e-01 -1.36358127e-02 -2.11035087e+01] [-5.84641433e-02 -7.30328507e-04 9.98289242e-01 -7.64063927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:-21.11, Z:-7.64 [[ 9.67817268e-01 2.45447437e-01 5.55453938e-02 1.18382220e+02] [-2.45086076e-01 9.69409641e-01 -1.33327838e-02 -2.11063428e+01] [-5.71187378e-02 -7.09704251e-04 9.98367140e-01 -7.64379479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-21.11, Z:-7.65 [[ 9.67837622e-01 2.45339772e-01 5.56662705e-02 1.18411189e+02] [-2.44976596e-01 9.69436899e-01 -1.33628843e-02 -2.11118906e+01] [-5.72433836e-02 -7.03831339e-04 9.98360005e-01 -7.64621526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:-21.12, Z:-7.65 [[ 9.67925522e-01 2.44990946e-01 5.56742388e-02 1.18442276e+02] [-2.44627286e-01 9.69525123e-01 -1.33613632e-02 -2.11188065e+01] [-5.72509862e-02 -6.86633460e-04 9.98359581e-01 -7.64779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.47, Y:-21.13, Z:-7.65 [[ 9.68006329e-01 2.44672356e-01 5.56703349e-02 1.18472819e+02] [-2.44307627e-01 9.69605593e-01 -1.33707738e-02 -2.11258601e+01] [-5.72497268e-02 -6.57693732e-04 9.98359673e-01 -7.65157490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.50, Y:-21.13, Z:-7.65 [[ 9.68552290e-01 2.42588481e-01 5.52927733e-02 1.18502962e+02] [-2.42224691e-01 9.70129145e-01 -1.32906434e-02 -2.11325330e+01] [-5.68652879e-02 -5.20591805e-04 9.98381725e-01 -7.65320366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.53, Y:-21.14, Z:-7.66 [[ 9.68909101e-01 2.41200303e-01 5.51141357e-02 1.18532393e+02] [-2.40836476e-01 9.70475257e-01 -1.32501781e-02 -2.11383106e+01] [-5.66828520e-02 -4.35276071e-04 9.98392140e-01 -7.65554349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76264 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:118.56, Y:-21.14, Z:-7.66 [[ 9.69233085e-01 2.39959080e-01 5.48349117e-02 1.18563621e+02] [-2.39596838e-01 9.70782937e-01 -1.31849956e-02 -2.11439011e+01] [-5.63966560e-02 -3.58937518e-04 9.98408378e-01 -7.65809185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:-21.15, Z:-7.66 [[ 9.69943235e-01 2.37169786e-01 5.44115135e-02 1.18593871e+02] [-2.36808167e-01 9.71468197e-01 -1.30932753e-02 -2.11501301e+01] [-5.59643842e-02 -1.85356922e-04 9.98432749e-01 -7.65877785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:-21.16, Z:-7.66 [[ 9.70329452e-01 2.35623577e-01 5.42428226e-02 1.18624527e+02] [-2.35261278e-01 9.71844392e-01 -1.30617241e-02 -2.11586941e+01] [-5.57932331e-02 -8.70602111e-05 9.98442341e-01 -7.66096243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-21.17, Z:-7.66 [[ 9.70320785e-01 2.35659869e-01 5.42402053e-02 1.18655396e+02] [-2.35297020e-01 9.71835593e-01 -1.30725834e-02 -2.11661788e+01] [-5.57932453e-02 -7.79592608e-05 9.98442341e-01 -7.66310721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:-21.17, Z:-7.67 [[ 9.70662366e-01 2.34183391e-01 5.45225658e-02 1.18685374e+02] [-2.33814383e-01 9.72192439e-01 -1.31413568e-02 -2.11749359e+01] [-5.60839137e-02 7.66040203e-06 9.98426059e-01 -7.66549141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:-21.19, Z:-7.67 [[ 9.71341392e-01 2.31295539e-01 5.47565012e-02 1.18716063e+02] [-2.30918251e-01 9.72883518e-01 -1.32068767e-02 -2.11852641e+01] [-5.63263892e-02 1.84110492e-04 9.98412392e-01 -7.66709725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264000000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.75, Y:-21.19, Z:-7.67 [[ 9.71637540e-01 2.30046523e-01 5.47639225e-02 1.18746684e+02] [-2.29666606e-01 9.73179596e-01 -1.32183054e-02 -2.11932516e+01] [-5.63359572e-02 2.65957515e-04 9.98411833e-01 -7.66958818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.78, Y:-21.20, Z:-7.67 [[ 9.71807089e-01 2.29285705e-01 5.49458568e-02 1.18778545e+02] [-2.28901508e-01 9.73359113e-01 -1.32716395e-02 -2.12011506e+01] [-5.65250477e-02 3.20283877e-04 9.98401130e-01 -7.67144032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264000000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.81, Y:-21.21, Z:-7.67 [[ 9.72007660e-01 2.28308874e-01 5.54631993e-02 1.18809438e+02] [-2.27915136e-01 9.73588673e-01 -1.34084442e-02 -2.12089855e+01] [-5.70596094e-02 3.92207843e-04 9.98370696e-01 -7.67338277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.84, Y:-21.22, Z:-7.68 [[ 9.72082888e-01 2.28056819e-01 5.51810352e-02 1.18840717e+02] [-2.27666077e-01 9.73647736e-01 -1.33507563e-02 -2.12178194e+01] [-5.67716210e-02 4.15191960e-04 9.98387105e-01 -7.67638487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:118.87, Y:-21.23, Z:-7.68 [[ 9.72063877e-01 2.28127795e-01 5.52225276e-02 1.18871226e+02] [-2.27735916e-01 9.73631106e-01 -1.33724400e-02 -2.12270840e+01] [-5.68169959e-02 4.22712993e-04 9.98384520e-01 -7.67884905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-21.24, Z:-7.68 [[ 9.72047159e-01 2.28212097e-01 5.51684662e-02 1.18902719e+02] [-2.27820525e-01 9.73611347e-01 -1.33698405e-02 -2.12381930e+01] [-5.67638040e-02 4.27606571e-04 9.98387544e-01 -7.67918731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:-21.25, Z:-7.68 [[ 9.71991334e-01 2.28506259e-01 5.49339218e-02 1.18932923e+02] [-2.28117800e-01 9.73542353e-01 -1.33250232e-02 -2.12471746e+01] [-5.65253507e-02 4.20401699e-04 9.98401076e-01 -7.68175724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:-21.26, Z:-7.68 [[ 9.71941072e-01 2.28869674e-01 5.43067578e-02 1.18964415e+02] [-2.28490273e-01 9.73456990e-01 -1.31788890e-02 -2.12562588e+01] [-5.58815411e-02 4.00537523e-04 9.98437325e-01 -7.68401512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:118.99, Y:-21.26, Z:-7.69 [[ 9.71896981e-01 2.29260290e-01 5.34413455e-02 1.18994629e+02] [-2.28892890e-01 9.73365077e-01 -1.29796838e-02 -2.12647415e+01] [-5.49936654e-02 3.82571541e-04 9.98486630e-01 -7.68911587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.03, Y:-21.28, Z:-7.69 [[ 9.71664642e-01 2.30587096e-01 5.19366328e-02 1.19026060e+02] [-2.30241506e-01 9.73051641e-01 -1.26235013e-02 -2.12752731e+01] [-5.34478423e-02 3.07841297e-04 9.98570595e-01 -7.69071158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.06, Y:-21.28, Z:-7.69 [[ 9.71399428e-01 2.31744761e-01 5.17447245e-02 1.19058099e+02] [-2.31402815e-01 9.72776594e-01 -1.25871314e-02 -2.12844840e+01] [-5.32530586e-02 2.53257365e-04 9.98581017e-01 -7.69238002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:-21.29, Z:-7.69 [[ 9.71038871e-01 2.33255841e-01 5.17225623e-02 1.19088750e+02] [-2.32915691e-01 9.72415384e-01 -1.25937024e-02 -2.12932301e+01] [-5.32333699e-02 1.81978161e-04 9.98582082e-01 -7.69313270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.12, Y:-21.30, Z:-7.70 [[ 9.70155388e-01 2.36927025e-01 5.16149885e-02 1.19120044e+02] [-2.36593176e-01 9.71527449e-01 -1.25731786e-02 -2.13037189e+01] [-5.31243039e-02 -1.38170843e-05 9.98587907e-01 -7.69688382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:-21.31, Z:-7.70 [[ 9.69705558e-01 2.38823452e-01 5.13272835e-02 1.19150807e+02] [-2.38495345e-01 9.71062999e-01 -1.25149168e-02 -2.13124317e+01] [-5.28308814e-02 -1.05533804e-04 9.98603468e-01 -7.69717169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:-21.32, Z:-7.70 [[ 9.69202862e-01 2.40898941e-01 5.11225236e-02 1.19182968e+02] [-2.40576040e-01 9.70550182e-01 -1.24705206e-02 -2.13209526e+01] [-5.26211097e-02 -2.12390060e-04 9.98614527e-01 -7.69970575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.21, Y:-21.33, Z:-7.70 [[ 9.68185830e-01 2.44814917e-01 5.17866386e-02 1.19214394e+02] [-2.44488571e-01 9.69569740e-01 -1.26435182e-02 -2.13286119e+01] [-5.33060796e-02 -4.19966058e-04 9.98578132e-01 -7.70387783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:119.24, Y:-21.34, Z:-7.71 [[ 9.67703070e-01 2.46679431e-01 5.19617753e-02 1.19244604e+02] [-2.46352892e-01 9.69097000e-01 -1.26986915e-02 -2.13353390e+01] [-5.34885065e-02 -5.12370877e-04 9.98568334e-01 -7.70563718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:-21.34, Z:-7.71 [[ 9.67298572e-01 2.48232715e-01 5.20959864e-02 1.19276003e+02] [-2.47906499e-01 9.68700245e-01 -1.27358992e-02 -2.13417757e+01] [-5.36268616e-02 -5.95516493e-04 9.98560867e-01 -7.70517732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.31, Y:-21.35, Z:-7.71 [[ 9.66585775e-01 2.50781701e-01 5.31081666e-02 1.19306666e+02] [-2.50445958e-01 9.68043382e-01 -1.29935855e-02 -2.13463246e+01] [-5.46695627e-02 -7.41310696e-04 9.98504226e-01 -7.70884832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-21.35, Z:-7.71 [[ 9.66281079e-01 2.51793024e-01 5.38623245e-02 1.19335668e+02] [-2.51448622e-01 9.67780778e-01 -1.31892399e-02 -2.13536179e+01] [-5.54478809e-02 -7.99094353e-04 9.98461263e-01 -7.70979799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-21.36, Z:-7.71 [[ 9.66088620e-01 2.52514503e-01 5.39370349e-02 1.19365641e+02] [-2.52170237e-01 9.67592744e-01 -1.32080823e-02 -2.13612471e+01] [-5.55243159e-02 -8.41136885e-04 9.98456981e-01 -7.71138390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:-21.37, Z:-7.71 [[ 9.65839731e-01 2.53357060e-01 5.44409231e-02 1.19394622e+02] [-2.53007561e-01 9.67372419e-01 -1.33333025e-02 -2.13660356e+01] [-5.60427338e-02 -8.96131888e-04 9.98427969e-01 -7.71309299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:-21.37, Z:-7.71 [[ 9.65845968e-01 2.53409492e-01 5.40850752e-02 1.19425952e+02] [-2.53064694e-01 9.67358687e-01 -1.32450293e-02 -2.13711220e+01] [-5.56760835e-02 -8.94364846e-04 9.98448483e-01 -7.71478164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:119.46, Y:-21.38, Z:-7.72 [[ 9.65925393e-01 2.53183804e-01 5.37224109e-02 1.19455096e+02] [-2.52843168e-01 9.67417799e-01 -1.31580499e-02 -2.13756189e+01] [-5.53034216e-02 -8.73650061e-04 9.98469212e-01 -7.71873960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.49, Y:-21.38, Z:-7.72 [[ 9.66391488e-01 2.51608919e-01 5.27299233e-02 1.19485846e+02] [-2.51278462e-01 9.67828683e-01 -1.29141342e-02 -2.13793939e+01] [-5.42828435e-02 -7.69784712e-04 9.98525303e-01 -7.72097020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:-21.39, Z:-7.72 [[ 9.66697131e-01 2.50402333e-01 5.28708695e-02 1.19515599e+02] [-2.50068303e-01 9.68141610e-01 -1.29486534e-02 -2.13855584e+01] [-5.44288617e-02 -7.03902479e-04 9.98517403e-01 -7.72226296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:-21.39, Z:-7.72 [[ 9.67134338e-01 2.48696168e-01 5.29281381e-02 1.19544612e+02] [-2.48358851e-01 9.68581357e-01 -1.29628401e-02 -2.13921703e+01] [-5.44890165e-02 -6.08363830e-04 9.98514185e-01 -7.72428185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:-21.40, Z:-7.73 [[ 9.68124710e-01 2.44744011e-01 5.32439185e-02 1.19574221e+02] [-2.44396722e-01 9.69587654e-01 -1.30393315e-02 -2.13986931e+01] [-5.48159443e-02 -3.88940152e-04 9.98496400e-01 -7.72577267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:-21.40, Z:-7.73 [[ 9.68546365e-01 2.43099531e-01 5.31089121e-02 1.19603463e+02] [-2.42751541e-01 9.70001305e-01 -1.30060916e-02 -2.14043998e+01] [-5.46774888e-02 -2.95267508e-04 9.98504024e-01 -7.72808171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.63, Y:-21.41, Z:-7.73 [[ 9.68936852e-01 2.41663919e-01 5.25350134e-02 1.19633057e+02] [-2.41321255e-01 9.70359988e-01 -1.28664774e-02 -2.14089998e+01] [-5.40872383e-02 -2.11011202e-04 9.98536192e-01 -7.73168966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84264 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:119.66, Y:-21.41, Z:-7.73 [[ 9.69217389e-01 2.40681589e-01 5.18654669e-02 1.19663250e+02] [-2.40346203e-01 9.70604116e-01 -1.27024972e-02 -2.14144148e+01] [-5.33980929e-02 -1.54186912e-04 9.98573292e-01 -7.73471738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:-21.42, Z:-7.74 [[ 9.69480006e-01 2.39625440e-01 5.18475320e-02 1.19692124e+02] [-2.39288768e-01 9.70865407e-01 -1.26982798e-02 -2.14200867e+01] [-5.33798061e-02 -9.58036181e-05 9.98574277e-01 -7.73621103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.72, Y:-21.43, Z:-7.74 [[ 9.69435974e-01 2.39908284e-01 5.13605619e-02 1.19720939e+02] [-2.39578333e-01 9.70795552e-01 -1.25785367e-02 -2.14261624e+01] [-5.28783002e-02 -1.10791813e-04 9.98600958e-01 -7.73935513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.75, Y:-21.43, Z:-7.74 [[ 9.69202647e-01 2.40872543e-01 5.12508190e-02 1.19750838e+02] [-2.40545436e-01 9.70556743e-01 -1.25499898e-02 -2.14304972e+01] [-5.27647759e-02 -1.64667254e-04 9.98606955e-01 -7.74046180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264000000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:119.78, Y:-21.44, Z:-7.74 [[ 9.69083076e-01 2.41322209e-01 5.13963400e-02 1.19779080e+02] [-2.40993843e-01 9.70445030e-01 -1.25861732e-02 -2.14356183e+01] [-5.29146459e-02 -1.89154097e-04 9.98599021e-01 -7.74218071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:-21.44, Z:-7.74 [[ 9.68911485e-01 2.41896106e-01 5.19308075e-02 1.19808080e+02] [-2.41561814e-01 9.70302130e-01 -1.27148194e-02 -2.14415322e+01] [-5.34642384e-02 -2.24965529e-04 9.98569739e-01 -7.74260292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.84, Y:-21.45, Z:-7.75 [[ 9.68900365e-01 2.41704080e-01 5.30209343e-02 1.19835851e+02] [-2.41355377e-01 9.70349983e-01 -1.29804718e-02 -2.14470647e+01] [-5.45862957e-02 -2.20103774e-04 9.98509032e-01 -7.74598397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.86, Y:-21.46, Z:-7.75 [[ 9.69003176e-01 2.41203040e-01 5.34222563e-02 1.19864177e+02] [-2.40848397e-01 9.70474655e-01 -1.30764801e-02 -2.14551954e+01] [-5.49990325e-02 -1.95514012e-04 9.98486389e-01 -7.74721332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:-21.46, Z:-7.75 [[ 9.69178079e-01 2.40341883e-01 5.41260676e-02 1.19894694e+02] [-2.39976598e-01 9.70688290e-01 -1.32467230e-02 -2.14639637e+01] [-5.57232823e-02 -1.50556015e-04 9.98446239e-01 -7.74857196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.92, Y:-21.47, Z:-7.75 [[ 9.69485373e-01 2.39095029e-01 5.41449788e-02 1.19924059e+02] [-2.38727486e-01 9.70996170e-01 -1.32523941e-02 -2.14720571e+01] [-5.57431485e-02 -7.78924574e-05 9.98445139e-01 -7.75150736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:119.95, Y:-21.48, Z:-7.75 [[ 9.69635479e-01 2.38430500e-01 5.43868967e-02 1.19953963e+02] [-2.38058409e-01 9.71159562e-01 -1.33153547e-02 -2.14801187e+01] [-5.59931415e-02 -3.62177382e-05 9.98431153e-01 -7.75397803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.98, Y:-21.49, Z:-7.76 [[ 9.69794088e-01 2.37865043e-01 5.40337756e-02 1.19982758e+02] [-2.37496808e-01 9.71298214e-01 -1.32304560e-02 -2.14880042e+01] [-5.56299728e-02 -2.03119312e-06 9.98451454e-01 -7.75517497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.01, Y:-21.50, Z:-7.76 [[ 9.69909779e-01 2.37489480e-01 5.36075353e-02 1.20012681e+02] [-2.37126433e-01 9.71390110e-01 -1.31266246e-02 -2.14958986e+01] [-5.51912649e-02 1.98778839e-05 9.98475800e-01 -7.75749881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.04, Y:-21.50, Z:-7.76 [[ 9.69957531e-01 2.37507261e-01 5.26563361e-02 1.20041532e+02] [-2.37156970e-01 9.71385763e-01 -1.28946102e-02 -2.15044349e+01] [-5.42121788e-02 1.94071062e-05 9.98529438e-01 -7.75964456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.07, Y:-21.51, Z:-7.76 [[ 9.69951675e-01 2.37577815e-01 5.24454870e-02 1.20071147e+02] [-2.37230217e-01 9.71368510e-01 -1.28469018e-02 -2.15131920e+01] [-5.39960334e-02 1.92196570e-05 9.98541150e-01 -7.76197586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-21.52, Z:-7.76 [[ 9.69834836e-01 2.37996360e-01 5.27079140e-02 1.20100957e+02] [-2.37645908e-01 9.71266046e-01 -1.29108460e-02 -2.15228138e+01] [-5.42661416e-02 -4.43184159e-06 9.98526507e-01 -7.76202047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:-21.53, Z:-7.76 [[ 9.69369681e-01 2.39626294e-01 5.38670668e-02 1.20129666e+02] [-2.39262669e-01 9.70865197e-01 -1.31964116e-02 -2.15323332e+01] [-5.54598676e-02 -9.61768648e-05 9.98460913e-01 -7.76342058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:-21.54, Z:-7.77 [[ 9.69034159e-01 2.40825871e-01 5.45499677e-02 1.20159245e+02] [-2.40454847e-01 9.70568324e-01 -1.33639368e-02 -2.15399056e+01] [-5.61628524e-02 -1.66692827e-04 9.98421607e-01 -7.76510688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:-21.55, Z:-7.77 [[ 9.68672023e-01 2.42193555e-01 5.49253484e-02 1.20189300e+02] [-2.41819390e-01 9.70227923e-01 -1.34595744e-02 -2.15472207e+01] [-5.65499288e-02 -2.44101079e-04 9.98399743e-01 -7.76659027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:-21.55, Z:-7.77 [[ 9.67760852e-01 2.45680359e-01 5.54986046e-02 1.20217638e+02] [-2.45303970e-01 9.69350792e-01 -1.36016223e-02 -2.15535964e+01] [-5.71392678e-02 -4.50910504e-04 9.98366116e-01 -7.76870866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:-21.56, Z:-7.77 [[ 9.67306795e-01 2.47593966e-01 5.49071285e-02 1.20245988e+02] [-2.47228574e-01 9.68863725e-01 -1.34578632e-02 -2.15605021e+01] [-5.65296108e-02 -5.56728519e-04 9.98400768e-01 -7.77039308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.27, Y:-21.57, Z:-7.77 [[ 9.66784594e-01 2.49798589e-01 5.41129667e-02 1.20274993e+02] [-2.49447236e-01 9.68297582e-01 -1.32616027e-02 -2.15682232e+01] [-5.57101844e-02 -6.77216795e-04 9.98446752e-01 -7.77377811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-21.58, Z:-7.77 [[ 9.65863473e-01 2.53472046e-01 5.34759186e-02 1.20302662e+02] [-2.53134516e-01 9.67342313e-01 -1.31059453e-02 -2.15766002e+01] [-5.50515095e-02 -8.78046962e-04 9.98483130e-01 -7.77462412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:-21.58, Z:-7.78 [[ 9.65478148e-01 2.55008483e-01 5.31283288e-02 1.20331923e+02] [-2.54677773e-01 9.66938338e-01 -1.30185418e-02 -2.15830739e+01] [-5.46916565e-02 -9.61486871e-04 9.98502828e-01 -7.77708484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.36, Y:-21.59, Z:-7.78 [[ 9.65137543e-01 2.56408954e-01 5.25734772e-02 1.20361551e+02] [-2.56087268e-01 9.66567838e-01 -1.28812439e-02 -2.15882848e+01] [-5.41186984e-02 -1.03122607e-03 9.98533977e-01 -7.78024431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:-21.59, Z:-7.78 [[ 9.64614658e-01 2.58354963e-01 5.26428931e-02 1.20389606e+02] [-2.58035365e-01 9.66049381e-01 -1.28974063e-02 -2.15923017e+01] [-5.41877432e-02 -1.14270098e-03 9.98530111e-01 -7.78107193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.42, Y:-21.60, Z:-7.79 [[ 9.64441911e-01 2.58884140e-01 5.32052922e-02 1.20416699e+02] [-2.58558680e-01 9.65907650e-01 -1.30314945e-02 -2.15982398e+01] [-5.47650460e-02 -1.18857063e-03 9.98498561e-01 -7.78502482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:-21.60, Z:-7.78 [[ 9.64427737e-01 2.58976779e-01 5.30110142e-02 1.20445992e+02] [-2.58654036e-01 9.65882811e-01 -1.29801764e-02 -2.16045437e+01] [-5.45639917e-02 -1.19307064e-03 9.98509563e-01 -7.78484417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:-21.61, Z:-7.79 [[ 9.64508218e-01 2.58696128e-01 5.29170252e-02 1.20473321e+02] [-2.58374155e-01 9.65958038e-01 -1.29562998e-02 -2.16081820e+01] [-5.44673705e-02 -1.17593402e-03 9.98514859e-01 -7.78652623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.50, Y:-21.61, Z:-7.79 [[ 9.64658969e-01 2.58095470e-01 5.31018060e-02 1.20501064e+02] [-2.57770542e-01 9.66118733e-01 -1.29977415e-02 -2.16132903e+01] [-5.46573077e-02 -1.14969344e-03 9.98504510e-01 -7.78998216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:-21.62, Z:-7.79 [[ 9.64940234e-01 2.57045771e-01 5.30831161e-02 1.20529769e+02] [-2.56719635e-01 9.66398612e-01 -1.29904289e-02 -2.16192257e+01] [-5.46385845e-02 -1.09249067e-03 9.98505599e-01 -7.79041357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:-21.63, Z:-7.79 [[ 9.64961262e-01 2.56966706e-01 5.30836511e-02 1.20558216e+02] [-2.56640570e-01 9.66419641e-01 -1.29882422e-02 -2.16260808e+01] [-5.46386289e-02 -1.09026791e-03 9.98505599e-01 -7.79238911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-21.63, Z:-7.79 [[ 9.65700100e-01 2.54260211e-01 5.26788572e-02 1.20585753e+02] [-2.53935269e-01 9.67135395e-01 -1.28843908e-02 -2.16297262e+01] [-5.42235753e-02 -9.34562274e-04 9.98528382e-01 -7.79447367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:-21.64, Z:-7.80 [[ 9.66147190e-01 2.52508540e-01 5.29059941e-02 1.20612948e+02] [-2.52178353e-01 9.67594298e-01 -1.29364579e-02 -2.16355233e+01] [-5.44581043e-02 -8.43224078e-04 9.98515700e-01 -7.79661238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:-21.64, Z:-7.80 [[ 9.66702178e-01 2.50366067e-01 5.29502685e-02 1.20641297e+02] [-2.50032308e-01 9.68150972e-01 -1.29437425e-02 -2.16421531e+01] [-5.45045279e-02 -7.26533829e-04 9.98513259e-01 -7.79838750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:-21.65, Z:-7.80 [[ 9.67838849e-01 2.45851465e-01 5.33387301e-02 1.20667972e+02] [-2.45506073e-01 9.69307396e-01 -1.30360867e-02 -2.16487028e+01] [-5.49065666e-02 -4.78151010e-04 9.98491382e-01 -7.79979977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.70, Y:-21.66, Z:-7.80 [[ 9.68329926e-01 2.43801957e-01 5.38308517e-02 1.20696040e+02] [-2.43447194e-01 9.69824969e-01 -1.31527117e-02 -2.16551454e+01] [-5.54131609e-02 -3.68805446e-04 9.98463442e-01 -7.80296868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.73, Y:-21.66, Z:-7.80 [[ 9.68764771e-01 2.42073298e-01 5.38083305e-02 1.20725102e+02] [-2.41716335e-01 9.70257926e-01 -1.31441764e-02 -2.16612464e+01] [-5.53898133e-02 -2.72737370e-04 9.98464769e-01 -7.80391281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:-21.67, Z:-7.80 [[ 9.69164240e-01 2.40489983e-01 5.37144691e-02 1.20753256e+02] [-2.40131903e-01 9.70651603e-01 -1.31199980e-02 -2.16656171e+01] [-5.52932637e-02 -1.83124851e-04 9.98470140e-01 -7.80479716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:-21.67, Z:-7.81 [[ 9.69152640e-01 2.40644469e-01 5.32296895e-02 1.20782285e+02] [-2.40293183e-01 9.70613313e-01 -1.29993748e-02 -2.16714737e+01] [-5.47936729e-02 -1.92353085e-04 9.98497680e-01 -7.80667072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:-21.68, Z:-7.81 [[ 9.69053429e-01 2.41120544e-01 5.28803807e-02 1.20810881e+02] [-2.40774639e-01 9.70495150e-01 -1.29127013e-02 -2.16771392e+01] [-5.44336705e-02 -2.19157116e-04 9.98517365e-01 -7.80916979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.84, Y:-21.68, Z:-7.81 [[ 9.68610119e-01 2.42844202e-01 5.31143187e-02 1.20838234e+02] [-2.42497866e-01 9.70065252e-01 -1.29689105e-02 -2.16818802e+01] [-5.46737796e-02 -3.18291020e-04 9.98504220e-01 -7.81311191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-21.69, Z:-7.81 [[ 9.68474510e-01 2.43428701e-01 5.29111604e-02 1.20866174e+02] [-2.43086078e-01 9.69918730e-01 -1.29157108e-02 -2.16881302e+01] [-5.44635802e-02 -3.53429853e-04 9.98515695e-01 -7.81361841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:-21.69, Z:-7.82 [[ 9.68401884e-01 2.43723313e-01 5.28841991e-02 1.20894822e+02] [-2.43381640e-01 9.69844734e-01 -1.29061854e-02 -2.16939403e+01] [-5.44350002e-02 -3.72668852e-04 9.98517247e-01 -7.81576729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.92, Y:-21.70, Z:-7.82 [[ 9.68338329e-01 2.43892940e-01 5.32645755e-02 1.20923832e+02] [-2.43546648e-01 9.69802085e-01 -1.29979066e-02 -2.16979260e+01] [-5.48261940e-02 -3.86037648e-04 9.98495838e-01 -7.81968262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19264000000001 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:120.95, Y:-21.70, Z:-7.82 [[ 9.68454579e-01 2.43372829e-01 5.35293848e-02 1.20951194e+02] [-2.43022438e-01 9.69932748e-01 -1.30598320e-02 -2.17027927e+01] [-5.50983116e-02 -3.60987476e-04 9.98480869e-01 -7.82214614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:-21.71, Z:-7.82 [[ 9.68899759e-01 2.41812464e-01 5.25356044e-02 1.20979270e+02] [-2.41472871e-01 9.70322966e-01 -1.28138145e-02 -2.17078085e+01] [-5.40750436e-02 -2.70621418e-04 9.98536838e-01 -7.82251340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:-21.71, Z:-7.82 [[ 9.69167105e-01 2.40768809e-01 5.23975472e-02 1.21007683e+02] [-2.40429620e-01 9.70582472e-01 -1.27774534e-02 -2.17144616e+01] [-5.39325531e-02 -2.14434854e-04 9.98544558e-01 -7.82493221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-21.72, Z:-7.83 [[ 9.69342180e-01 2.40125412e-01 5.21106968e-02 1.21035830e+02] [-2.39789145e-01 9.70741858e-01 -1.27047867e-02 -2.17209584e+01] [-5.36367768e-02 -1.80293853e-04 9.98560496e-01 -7.82720719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:-21.73, Z:-7.83 [[ 9.69428382e-01 2.39846281e-01 5.17916298e-02 1.21063612e+02] [-2.39513867e-01 9.70810864e-01 -1.26243232e-02 -2.17273002e+01] [-5.33077738e-02 -1.66436333e-04 9.98578116e-01 -7.82898668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:-21.73, Z:-7.83 [[ 9.69498003e-01 2.39594364e-01 5.16542583e-02 1.21091955e+02] [-2.39263496e-01 9.70873069e-01 -1.25881877e-02 -2.17323751e+01] [-5.31657871e-02 -1.54755598e-04 9.98585687e-01 -7.83064877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.12, Y:-21.74, Z:-7.83 [[ 9.69507721e-01 2.39455511e-01 5.21136937e-02 1.21118718e+02] [-2.39118666e-01 9.70907326e-01 -1.26975640e-02 -2.17381169e+01] [-5.36380687e-02 -1.50970569e-04 9.98560431e-01 -7.83488806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:-21.74, Z:-7.84 [[ 9.69628245e-01 2.38992320e-01 5.19974704e-02 1.21147006e+02] [-2.38656500e-01 9.71021449e-01 -1.26657130e-02 -2.17445985e+01] [-5.35176672e-02 -1.28501246e-04 9.98566895e-01 -7.83513294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:-21.75, Z:-7.84 [[ 9.69788413e-01 2.38120534e-01 5.30004366e-02 1.21174755e+02] [-2.37770476e-01 9.71235607e-01 -1.29072224e-02 -2.17510542e+01] [-5.45493860e-02 -8.46643081e-05 9.98511070e-01 -7.83684939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:-21.76, Z:-7.84 [[ 9.69856542e-01 2.37796953e-01 5.32061824e-02 1.21202779e+02] [-2.37443837e-01 9.71314884e-01 -1.29545325e-02 -2.17572914e+01] [-5.47605052e-02 -6.94420034e-05 9.98499515e-01 -7.83881521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-21.76, Z:-7.84 [[ 9.69974231e-01 2.37357670e-01 5.30219520e-02 1.21230022e+02] [-2.37006483e-01 9.71422325e-01 -1.29070847e-02 -2.17633854e+01] [-5.45703035e-02 -4.70067975e-05 9.98509930e-01 -7.84117827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264000000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.26, Y:-21.77, Z:-7.84 [[ 9.69907726e-01 2.37718767e-01 5.26192958e-02 1.21257906e+02] [-2.37373640e-01 9.71334022e-01 -1.28051688e-02 -2.17698928e+01] [-5.41549412e-02 -7.06015868e-05 9.98532542e-01 -7.84471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:-21.78, Z:-7.84 [[ 9.69707003e-01 2.38590807e-01 5.23713232e-02 1.21285763e+02] [-2.38250339e-01 9.71120184e-01 -1.27421949e-02 -2.17769186e+01] [-5.38990196e-02 -1.21289909e-04 9.98546384e-01 -7.84493725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-21.78, Z:-7.85 [[ 9.69057735e-01 2.41312889e-01 5.19152800e-02 1.21313103e+02] [-2.40982366e-01 9.70447327e-01 -1.26287074e-02 -2.17830651e+01] [-5.34285146e-02 -2.72720439e-04 9.98571640e-01 -7.84752071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:-21.79, Z:-7.85 [[ 9.68612854e-01 2.43293963e-01 5.09626058e-02 1.21340718e+02] [-2.42978388e-01 9.69952527e-01 -1.23934960e-02 -2.17894745e+01] [-5.24465710e-02 -3.78312230e-04 9.98623660e-01 -7.85030479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:-21.80, Z:-7.85 [[ 9.68194986e-01 2.45082901e-01 5.03273301e-02 1.21367612e+02] [-2.44777685e-01 9.69502011e-01 -1.22366418e-02 -2.17950143e+01] [-5.17914394e-02 -4.71552115e-04 9.98657811e-01 -7.85268192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:-21.80, Z:-7.86 [[ 9.67451291e-01 2.47991887e-01 5.03788003e-02 1.21395496e+02] [-2.47690142e-01 9.68761904e-01 -1.22461139e-02 -2.17984292e+01] [-5.18419994e-02 -6.30813477e-04 9.98655100e-01 -7.85508042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.42, Y:-21.80, Z:-7.86 [[ 9.67161175e-01 2.48923555e-01 5.13451677e-02 1.21423265e+02] [-2.48611643e-01 9.68522884e-01 -1.24769447e-02 -2.18034406e+01] [-5.28347753e-02 -6.97790015e-04 9.98603024e-01 -7.85851481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73264 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:121.45, Y:-21.81, Z:-7.86 [[ 9.67010467e-01 2.49336408e-01 5.21738665e-02 1.21449745e+02] [-2.49015137e-01 9.68416653e-01 -1.26746587e-02 -2.18086183e+01] [-5.36862951e-02 -7.35554893e-04 9.98557580e-01 -7.86091565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:-21.81, Z:-7.86 [[ 9.66878429e-01 2.49880642e-01 5.20170040e-02 1.21478020e+02] [-2.49562437e-01 9.68276341e-01 -1.26300414e-02 -2.18148901e+01] [-5.35228371e-02 -7.69775631e-04 9.98566329e-01 -7.86085881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.51, Y:-21.82, Z:-7.86 [[ 9.66838561e-01 2.50036229e-01 5.20103998e-02 1.21506506e+02] [-2.49718478e-01 9.68236167e-01 -1.26256642e-02 -2.18206490e+01] [-5.35152236e-02 -7.80978899e-04 9.98566728e-01 -7.86408710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-21.82, Z:-7.87 [[ 9.66786803e-01 2.50106532e-01 5.26307924e-02 1.21534429e+02] [-2.49781401e-01 9.68217996e-01 -1.27735718e-02 -2.18245650e+01] [-5.41528341e-02 -7.96872403e-04 9.98532341e-01 -7.86507133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-21.83, Z:-7.87 [[ 9.66782994e-01 2.50072117e-01 5.28637711e-02 1.21561788e+02] [-2.49744233e-01 9.68226881e-01 -1.28267149e-02 -2.18299067e+01] [-5.43917279e-02 -8.01772107e-04 9.98519352e-01 -7.86666451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:-21.83, Z:-7.87 [[ 9.66829979e-01 2.49851945e-01 5.30452415e-02 1.21589618e+02] [-2.49521710e-01 9.68283725e-01 -1.28664109e-02 -2.18340472e+01] [-5.45775418e-02 -7.96307626e-04 9.98509218e-01 -7.86894555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:-21.84, Z:-7.87 [[ 9.66944668e-01 2.49374242e-01 5.32024130e-02 1.21617540e+02] [-2.49041503e-01 9.68406881e-01 -1.29012591e-02 -2.18383426e+01] [-5.47388246e-02 -7.74805214e-04 9.98500406e-01 -7.87111402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:-21.84, Z:-7.87 [[ 9.67214519e-01 2.48374743e-01 5.29722621e-02 1.21645170e+02] [-2.48043618e-01 9.68663755e-01 -1.28411058e-02 -2.18431553e+01] [-5.45017167e-02 -7.19327578e-04 9.98513418e-01 -7.87291962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:-21.85, Z:-7.87 [[ 9.68162937e-01 2.44555348e-01 5.34154470e-02 1.21672416e+02] [-2.44213037e-01 9.69635199e-01 -1.29449988e-02 -2.18483444e+01] [-5.49592662e-02 -5.11880505e-04 9.98488466e-01 -7.87483141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-21.85, Z:-7.88 [[ 9.68749707e-01 2.41976461e-01 5.45105189e-02 1.21699603e+02] [-2.41616075e-01 9.70282047e-01 -1.32068922e-02 -2.18538387e+01] [-5.60863349e-02 -3.76444686e-04 9.98425852e-01 -7.87630357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:-21.86, Z:-7.88 [[ 9.70038404e-01 2.36663489e-01 5.49170933e-02 1.21726682e+02] [-2.36289436e-01 9.71591677e-01 -1.33009296e-02 -2.18596293e+01] [-5.65048352e-02 -7.39165255e-05 9.98402323e-01 -7.87717374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:121.75, Y:-21.87, Z:-7.88 [[ 9.70729639e-01 2.33712512e-01 5.53392148e-02 1.21753483e+02] [-2.33328091e-01 9.72305740e-01 -1.33995966e-02 -2.18663413e+01] [-5.69382896e-02 9.51921829e-05 9.98377695e-01 -7.88113636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-21.87, Z:-7.88 [[ 9.71315435e-01 2.31270897e-01 5.53181443e-02 1.21781175e+02] [-2.30883037e-01 9.72889365e-01 -1.33905145e-02 -2.18736969e+01] [-5.69152706e-02 2.34392265e-04 9.98378985e-01 -7.88105795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.81, Y:-21.88, Z:-7.88 [[ 9.71901701e-01 2.28740008e-01 5.55436031e-02 1.21808444e+02] [-2.28345003e-01 9.73487475e-01 -1.34423368e-02 -2.18797231e+01] [-5.71458021e-02 3.81525816e-04 9.98365771e-01 -7.88433002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:-21.89, Z:-7.88 [[ 9.72845583e-01 2.24592678e-01 5.59428406e-02 1.21837167e+02] [-2.24185360e-01 9.74452532e-01 -1.35346598e-02 -2.18877687e+01] [-5.75534282e-02 6.25568217e-04 9.98342232e-01 -7.88483874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:121.87, Y:-21.90, Z:-7.89 [[ 9.73294628e-01 2.22567269e-01 5.62261338e-02 1.21865670e+02] [-2.22152518e-01 9.74917049e-01 -1.36017337e-02 -2.18958069e+01] [-5.78431172e-02 7.47717208e-04 9.98325405e-01 -7.88845197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.89, Y:-21.90, Z:-7.89 [[ 9.73635917e-01 2.21133150e-01 5.59752829e-02 1.21894324e+02] [-2.20719809e-01 9.75243275e-01 -1.35396114e-02 -2.19048306e+01] [-5.75835751e-02 8.27798194e-04 9.98340346e-01 -7.89033473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:-21.92, Z:-7.89 [[ 9.74192049e-01 2.19014309e-01 5.46130392e-02 1.21922956e+02] [-2.18617624e-01 9.75721206e-01 -1.32084598e-02 -2.19154653e+01] [-5.61799422e-02 9.28203654e-04 9.98420228e-01 -7.89130860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.95, Y:-21.92, Z:-7.89 [[ 9.74421716e-01 2.18078689e-01 5.42586937e-02 1.21952633e+02] [-2.17685690e-01 9.75930701e-01 -1.31227595e-02 -2.19237016e+01] [-5.58145192e-02 9.75760576e-04 9.98440678e-01 -7.89439090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:-21.93, Z:-7.90 [[ 9.74585040e-01 2.17427945e-01 5.39359671e-02 1.21980550e+02] [-2.17038608e-01 9.76075855e-01 -1.30448550e-02 -2.19324039e+01] [-5.54819112e-02 1.00713330e-03 9.98459185e-01 -7.89551003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:-21.94, Z:-7.90 [[ 9.74735227e-01 2.16591963e-01 5.45816762e-02 1.22008623e+02] [-2.16191986e-01 9.76261637e-01 -1.32000325e-02 -2.19440298e+01] [-5.61450175e-02 1.06641568e-03 9.98422055e-01 -7.89763313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-21.95, Z:-7.90 [[ 9.74729262e-01 2.16547249e-01 5.48648686e-02 1.22038777e+02] [-2.16143004e-01 9.76271547e-01 -1.32690824e-02 -2.19533227e+01] [-5.64363934e-02 1.07510535e-03 9.98405618e-01 -7.89919574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:-21.96, Z:-7.90 [[ 9.74694284e-01 2.16747304e-01 5.46960517e-02 1.22067716e+02] [-2.16345802e-01 9.76227166e-01 -1.32292913e-02 -2.19623479e+01] [-5.62631848e-02 1.06125344e-03 9.98415408e-01 -7.90079242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:-21.98, Z:-7.90 [[ 9.74637580e-01 2.17321787e-01 5.34118791e-02 1.22096391e+02] [-2.16939601e-01 9.76099496e-01 -1.29222067e-02 -2.19750369e+01] [-5.49435853e-02 1.00731651e-03 9.98488952e-01 -7.90298640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:122.13, Y:-21.98, Z:-7.91 [[ 9.74599585e-01 2.17384016e-01 5.38501441e-02 1.22125414e+02] [-2.16995566e-01 9.76085633e-01 -1.30292378e-02 -2.19848408e+01] [-5.53947000e-02 1.01304724e-03 9.98464021e-01 -7.90754417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:-22.00, Z:-7.91 [[ 9.74443123e-01 2.18151376e-01 5.35777638e-02 1.22156287e+02] [-2.17767914e-01 9.75914465e-01 -1.29650259e-02 -2.19964573e+01] [-5.51156529e-02 9.66162432e-04 9.98479510e-01 -7.90770817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-22.01, Z:-7.91 [[ 9.74349944e-01 2.18600919e-01 5.34399158e-02 1.22185873e+02] [-2.18219580e-01 9.75813886e-01 -1.29411965e-02 -2.20092017e+01] [-5.49763694e-02 9.47618041e-04 9.98487206e-01 -7.91006169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:122.22, Y:-22.02, Z:-7.91 [[ 9.74260401e-01 2.18890079e-01 5.38869540e-02 1.22216886e+02] [-2.18502190e-01 9.75749062e-01 -1.30598920e-02 -2.20194428e+01] [-5.54388256e-02 9.49318144e-04 9.98461634e-01 -7.91429109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:-22.03, Z:-7.91 [[ 9.73952183e-01 2.20209158e-01 5.40839344e-02 1.22246682e+02] [-2.19819823e-01 9.75452273e-01 -1.31189894e-02 -2.20310871e+01] [-5.56452184e-02 8.88547433e-04 9.98450209e-01 -7.91445581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.28, Y:-22.04, Z:-7.92 [[ 9.73470888e-01 2.22171134e-01 5.47212789e-02 1.22276113e+02] [-2.21775041e-01 9.75007361e-01 -1.32845004e-02 -2.20438073e+01] [-5.63050822e-02 7.96260560e-04 9.98413293e-01 -7.91865379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:-22.06, Z:-7.92 [[ 9.72976680e-01 2.24661259e-01 5.33263434e-02 1.22307170e+02] [-2.24288378e-01 9.74436711e-01 -1.29545115e-02 -2.20551102e+01] [-5.48735235e-02 6.43958495e-04 9.98493106e-01 -7.91874990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:-22.06, Z:-7.92 [[ 9.72957472e-01 2.24745109e-01 5.33234898e-02 1.22339622e+02] [-2.24371711e-01 9.74417370e-01 -1.29662460e-02 -2.20631354e+01] [-5.48734351e-02 6.51323298e-04 9.98493106e-01 -7.92100720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:-22.07, Z:-7.92 [[ 9.72439334e-01 2.27139824e-01 5.26235858e-02 1.22371303e+02] [-2.26779500e-01 9.73862022e-01 -1.27992577e-02 -2.20733307e+01] [-5.41553328e-02 5.12551180e-04 9.98532392e-01 -7.92392986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264000000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:122.40, Y:-22.08, Z:-7.93 [[ 9.71885182e-01 2.29675964e-01 5.18473139e-02 1.22402557e+02] [-2.29329242e-01 9.73267081e-01 -1.26209555e-02 -2.20821722e+01] [-5.33600140e-02 3.76014470e-04 9.98575269e-01 -7.92729934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-22.09, Z:-7.93 [[ 9.70612587e-01 2.35319896e-01 5.03562523e-02 1.22431900e+02] [-2.34999819e-01 9.71917970e-01 -1.22696418e-02 -2.20938320e+01] [-5.18294374e-02 7.53586454e-05 9.98655949e-01 -7.92815526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:-22.10, Z:-7.93 [[ 9.70089914e-01 2.37481031e-01 5.02823817e-02 1.22461351e+02] [-2.37164442e-01 9.71392176e-01 -1.22584112e-02 -2.21030290e+01] [-5.17550523e-02 -3.34319376e-05 9.98659809e-01 -7.93043553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:122.49, Y:-22.11, Z:-7.93 [[ 9.69729376e-01 2.38843607e-01 5.07805949e-02 1.22491217e+02] [-2.38522595e-01 9.71058042e-01 -1.23794914e-02 -2.21111731e+01] [-5.22676674e-02 -1.07562741e-04 9.98633105e-01 -7.93403190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:-22.12, Z:-7.93 [[ 9.68965325e-01 2.42036868e-01 5.02429526e-02 1.22520824e+02] [-2.41726842e-01 9.70267014e-01 -1.22496994e-02 -2.21216911e+01] [-5.17139584e-02 -2.75536316e-04 9.98661900e-01 -7.93431083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.55, Y:-22.13, Z:-7.94 [[ 9.68810028e-01 2.42584223e-01 5.05966798e-02 1.22551076e+02] [-2.42270601e-01 9.70130301e-01 -1.23351420e-02 -2.21300906e+01] [-5.20776830e-02 -3.07678760e-04 9.98642989e-01 -7.93763788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:-22.14, Z:-7.94 [[ 9.68592390e-01 2.43376827e-01 5.09558920e-02 1.22582041e+02] [-2.43059379e-01 9.69931751e-01 -1.24312961e-02 -2.21403259e+01] [-5.24492270e-02 -3.44448683e-04 9.98623533e-01 -7.93859013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-22.15, Z:-7.94 [[ 9.68521474e-01 2.43434340e-01 5.20180354e-02 1.22612153e+02] [-2.43103069e-01 9.69917317e-01 -1.27002051e-02 -2.21506978e+01] [-5.35448594e-02 -3.45322672e-04 9.98565385e-01 -7.94019812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.64, Y:-22.16, Z:-7.94 [[ 9.68615572e-01 2.42951148e-01 5.25224951e-02 1.22643348e+02] [-2.42612122e-01 9.70038475e-01 -1.28341559e-02 -2.21590900e+01] [-5.40669139e-02 -3.11230756e-04 9.98537266e-01 -7.94375158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:-22.17, Z:-7.94 [[ 9.68608899e-01 2.42974094e-01 5.25394202e-02 1.22674171e+02] [-2.42634375e-01 9.70032730e-01 -1.28476714e-02 -2.21693625e+01] [-5.40866085e-02 -3.03500488e-04 9.98536202e-01 -7.94416053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:122.70, Y:-22.18, Z:-7.95 [[ 9.68768845e-01 2.41927842e-01 5.43860741e-02 1.22704296e+02] [-2.41561539e-01 9.70294213e-01 -1.33102582e-02 -2.21807836e+01] [-5.59906150e-02 -2.43020284e-04 9.98431266e-01 -7.94747507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-22.19, Z:-7.95 [[ 9.68755407e-01 2.41972156e-01 5.44282756e-02 1.22735959e+02] [-2.41604779e-01 9.70283165e-01 -1.33308206e-02 -2.21910902e+01] [-5.60365269e-02 -2.35826962e-04 9.98428692e-01 -7.94772711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:-22.20, Z:-7.95 [[ 9.68796758e-01 2.41774199e-01 5.45717724e-02 1.22767655e+02] [-2.41403935e-01 9.70332516e-01 -1.33771896e-02 -2.22012223e+01] [-5.61870245e-02 -2.14062712e-04 9.98420238e-01 -7.94979469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:-22.21, Z:-7.95 [[ 9.68811781e-01 2.41785478e-01 5.42541755e-02 1.22798150e+02] [-2.41418897e-01 9.70329708e-01 -1.33106948e-02 -2.22113911e+01] [-5.58627710e-02 -2.02425271e-04 9.98438436e-01 -7.95185811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:-22.22, Z:-7.95 [[ 9.68880512e-01 2.41608644e-01 5.38127924e-02 1.22828977e+02] [-2.41247169e-01 9.70373758e-01 -1.32126099e-02 -2.22222670e+01] [-5.54108024e-02 -1.80743576e-04 9.98463625e-01 -7.95441989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:-22.23, Z:-7.96 [[ 9.69032793e-01 2.41129343e-01 5.32173422e-02 1.22859249e+02] [-2.40774458e-01 9.70492978e-01 -1.30782229e-02 -2.22324289e+01] [-5.48006002e-02 -1.40149813e-04 9.98497308e-01 -7.95679069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:-22.24, Z:-7.96 [[ 9.69070808e-01 2.41016288e-01 5.30369545e-02 1.22890636e+02] [-2.40663316e-01 9.70521062e-01 -1.30397681e-02 -2.22420404e+01] [-5.46162780e-02 -1.27590788e-04 9.98507409e-01 -7.95903422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:-22.25, Z:-7.96 [[ 9.69074619e-01 2.40977971e-01 5.31413166e-02 1.22921854e+02] [-2.40622953e-01 9.70530579e-01 -1.30763265e-02 -2.22522647e+01] [-5.47263793e-02 -1.15084441e-04 9.98501382e-01 -7.96172979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:-22.26, Z:-7.96 [[ 9.68992430e-01 2.41357453e-01 5.29173983e-02 1.22952705e+02] [-2.41005361e-01 9.70436275e-01 -1.30327157e-02 -2.22613995e+01] [-5.44985060e-02 -1.24773850e-04 9.98513844e-01 -7.96401908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:-22.27, Z:-7.97 [[ 9.68893016e-01 2.41844041e-01 5.25146021e-02 1.22984176e+02] [-2.41497446e-01 9.70315124e-01 -1.29438654e-02 -2.22700848e+01] [-5.40861094e-02 -1.40921456e-04 9.98536265e-01 -7.96621518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-22.28, Z:-7.97 [[ 9.68536373e-01 2.43247443e-01 5.26115514e-02 1.23014620e+02] [-2.42901026e-01 9.69964246e-01 -1.29789836e-02 -2.22779698e+01] [-5.41884283e-02 -2.08782058e-04 9.98530706e-01 -7.96860410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:-22.29, Z:-7.97 [[ 9.68272680e-01 2.44169519e-01 5.31908245e-02 1.23045543e+02] [-2.43816237e-01 9.69732531e-01 -1.31324300e-02 -2.22864173e+01] [-5.47874120e-02 -2.53013494e-04 9.98498010e-01 -7.97090005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264000000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.08, Y:-22.30, Z:-7.97 [[ 9.67942660e-01 2.45333004e-01 5.38398032e-02 1.23076762e+02] [-2.44972261e-01 9.69438817e-01 -1.33030801e-02 -2.22963263e+01] [-5.54580797e-02 -3.12639572e-04 9.98460968e-01 -7.97438949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-22.30, Z:-7.97 [[ 9.67733036e-01 2.46125803e-01 5.39894370e-02 1.23107803e+02] [-2.45763597e-01 9.69237829e-01 -1.33523676e-02 -2.23047407e+01] [-5.56149669e-02 -3.47111013e-04 9.98452230e-01 -7.97424437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-22.31, Z:-7.98 [[ 9.67470738e-01 2.46590878e-01 5.65093834e-02 1.23138816e+02] [-2.46464074e-01 9.69107191e-01 -9.31197912e-03 -2.23134281e+01] [-5.70598990e-02 -4.91846554e-03 9.98358641e-01 -7.97646361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:-22.32, Z:-7.98 [[ 9.67549997e-01 2.46884365e-01 5.38062559e-02 1.23171638e+02] [-2.46271431e-01 9.69036637e-01 -1.78431388e-02 -2.23164923e+01] [-5.65454253e-02 4.01318527e-03 9.98391962e-01 -7.97889274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:-22.33, Z:-7.98 [[ 9.67736928e-01 2.45755365e-01 5.55836182e-02 1.23202739e+02] [-2.45369112e-01 9.69331835e-01 -1.37765123e-02 -2.23275811e+01] [-5.72646224e-02 -3.06463296e-04 9.98358988e-01 -7.98015337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:-22.34, Z:-7.98 [[ 9.67997144e-01 2.44577742e-01 5.62428450e-02 1.23233602e+02] [-2.44179576e-01 9.69629659e-01 -1.39520030e-02 -2.23363969e+01] [-5.79470800e-02 -2.27855004e-04 9.98319630e-01 -7.98242861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:-22.35, Z:-7.98 [[ 9.69019928e-01 2.40686797e-01 5.54097838e-02 1.23264998e+02] [-2.40293388e-01 9.70602836e-01 -1.37558046e-02 -2.23458123e+01] [-5.70917339e-02 1.50440568e-05 9.98368937e-01 -7.98419554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:-22.36, Z:-7.99 [[ 9.69574088e-01 2.38101742e-01 5.68651796e-02 1.23295762e+02] [-2.37850546e-01 9.71236676e-01 -1.12444602e-02 -2.23559751e+01] [-5.79068736e-02 -2.62307671e-03 9.98318543e-01 -7.98695270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62264 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.33, Y:-22.36, Z:-7.99 [[ 9.70215692e-01 2.35951015e-01 5.48509763e-02 1.23328323e+02] [-2.35390807e-01 9.71759854e-01 -1.65515618e-02 -2.23617863e+01] [-5.72073345e-02 3.14716939e-03 9.98357359e-01 -7.99215460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.36, Y:-22.37, Z:-7.99 [[ 9.70746551e-01 2.33667270e-01 5.52335168e-02 1.23359329e+02] [-2.33263042e-01 9.72316510e-01 -1.37462000e-02 -2.23732443e+01] [-5.69164973e-02 4.60138092e-04 9.98378836e-01 -7.99330445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:-22.39, Z:-7.99 [[ 9.71747191e-01 2.29683196e-01 5.43417631e-02 1.23389107e+02] [-2.29285065e-01 9.73265200e-01 -1.35355170e-02 -2.23861804e+01] [-5.59978277e-02 6.93345978e-04 9.98430650e-01 -7.99483953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71264000000001 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:123.42, Y:-22.40, Z:-8.00 [[ 9.72173703e-01 2.28072464e-01 5.34905823e-02 1.23420044e+02] [-2.27683728e-01 9.73643845e-01 -1.33335258e-02 -2.23965566e+01] [-5.51217863e-02 7.83567941e-04 9.98479331e-01 -7.99914855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:-22.41, Z:-8.00 [[ 9.72379512e-01 2.27436029e-01 5.24493776e-02 1.23450534e+02] [-2.27060788e-01 9.73792683e-01 -1.30846676e-02 -2.24096216e+01] [-5.40507450e-02 8.14065651e-04 9.98537858e-01 -7.99942939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:-22.42, Z:-8.00 [[ 9.72118579e-01 2.28561963e-01 5.23917709e-02 1.23481392e+02] [-2.28188571e-01 9.73529069e-01 -1.30815642e-02 -2.24191822e+01] [-5.39948600e-02 7.61628272e-04 9.98540923e-01 -8.00151877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:-22.43, Z:-8.00 [[ 9.71636379e-01 2.30662478e-01 5.21303094e-02 1.23512744e+02] [-2.30295282e-01 9.73033605e-01 -1.30263630e-02 -2.24285794e+01] [-5.37292361e-02 6.51523874e-04 9.98555329e-01 -8.00347151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-22.44, Z:-8.01 [[ 9.70039701e-01 2.37468360e-01 5.13006468e-02 1.23543605e+02] [-2.37121690e-01 9.71395233e-01 -1.28298528e-02 -2.24384703e+01] [-5.28798879e-02 2.80970552e-04 9.98600840e-01 -8.00509573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:-22.45, Z:-8.01 [[ 9.68956999e-01 2.41808846e-01 5.14860819e-02 1.23574291e+02] [-2.41465237e-01 9.70323904e-01 -1.28864243e-02 -2.24469842e+01] [-5.30742274e-02 5.42920189e-05 9.98590568e-01 -8.00737040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89264000000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:123.60, Y:-22.46, Z:-8.01 [[ 9.67872606e-01 2.45993114e-01 5.20577157e-02 1.23604934e+02] [-2.45647310e-01 9.69271562e-01 -1.30399018e-02 -2.24551504e+01] [-5.36657894e-02 -1.66874113e-04 9.98558939e-01 -8.01104164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:-22.47, Z:-8.01 [[ 9.65722678e-01 2.54189368e-01 5.26067957e-02 1.23635988e+02] [-2.53847797e-01 9.67154270e-01 -1.31876180e-02 -2.24659682e+01] [-5.42310394e-02 -6.18537488e-04 9.98528223e-01 -8.01190962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:-22.47, Z:-8.01 [[ 9.64872648e-01 2.57402306e-01 5.25816082e-02 1.23667337e+02] [-2.57065172e-01 9.66304007e-01 -1.31933187e-02 -2.24743216e+01] [-5.42058093e-02 -7.87027831e-04 9.98529474e-01 -8.01372309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-22.48, Z:-8.02 [[ 9.64117689e-01 2.60179327e-01 5.27617212e-02 1.23698991e+02] [-2.59843711e-01 9.65559855e-01 -1.32443630e-02 -2.24820432e+01] [-5.43905093e-02 -9.40676779e-04 9.98519298e-01 -8.01607139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:-22.49, Z:-8.02 [[ 9.63371351e-01 2.62999991e-01 5.24084455e-02 1.23729785e+02] [-2.62672385e-01 9.64795230e-01 -1.31674695e-02 -2.24900382e+01] [-5.40264626e-02 -1.08108854e-03 9.98538919e-01 -8.01899952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-22.50, Z:-8.02 [[ 9.63268156e-01 2.63390608e-01 5.23435406e-02 1.23759862e+02] [-2.63064066e-01 9.64688647e-01 -1.31571539e-02 -2.24994289e+01] [-5.39606902e-02 -1.09583727e-03 9.98542459e-01 -8.02125266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.79, Y:-22.51, Z:-8.02 [[ 9.63375620e-01 2.63053039e-01 5.20625916e-02 1.23791363e+02] [-2.62728998e-01 9.64780789e-01 -1.30959138e-02 -2.25091251e+01] [-5.36739081e-02 -1.06206845e-03 9.98557952e-01 -8.02411297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264000000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:123.82, Y:-22.52, Z:-8.03 [[ 9.63594030e-01 2.62281934e-01 5.19108085e-02 1.23822341e+02] [-2.61958035e-01 9.64990765e-01 -1.30694429e-02 -2.25186083e+01] [-5.35213296e-02 -1.00481623e-03 9.98566201e-01 -8.02600127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:-22.53, Z:-8.03 [[ 9.64125116e-01 2.60292796e-01 5.20617147e-02 1.23852880e+02] [-2.59963790e-01 9.65529319e-01 -1.31134039e-02 -2.25297780e+01] [-5.36804365e-02 -8.91198638e-04 9.98557768e-01 -8.02712809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:-22.54, Z:-8.03 [[ 9.64389768e-01 2.59307699e-01 5.20758400e-02 1.23884615e+02] [-2.58976574e-01 9.65794405e-01 -1.31263745e-02 -2.25393442e+01] [-5.36983249e-02 -8.27481377e-04 9.98556861e-01 -8.02945769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19264 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:123.92, Y:-22.55, Z:-8.03 [[ 9.64690467e-01 2.58193341e-01 5.20432753e-02 1.23915709e+02] [-2.57860446e-01 9.66092971e-01 -1.31286446e-02 -2.25481320e+01] [-5.36683711e-02 -7.54823866e-04 9.98558529e-01 -8.03308096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:-22.56, Z:-8.03 [[ 9.64920850e-01 2.57335947e-01 5.20188684e-02 1.23947721e+02] [-2.57001624e-01 9.66321749e-01 -1.31317131e-02 -2.25574345e+01] [-5.36462257e-02 -6.97869918e-04 9.98559761e-01 -8.03377248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-22.57, Z:-8.04 [[ 9.65350489e-01 2.55844127e-01 5.14024981e-02 1.23977987e+02] [-2.55514948e-01 9.66717863e-01 -1.29878589e-02 -2.25677815e+01] [-5.30145805e-02 -5.96270707e-04 9.98593560e-01 -8.03601848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:124.01, Y:-22.58, Z:-8.04 [[ 9.65450329e-01 2.55590342e-01 5.07862104e-02 1.24008324e+02] [-2.55268371e-01 9.66785008e-01 -1.28377160e-02 -2.25774202e+01] [-5.23805431e-02 -5.69936032e-04 9.98627034e-01 -8.03956440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:-22.59, Z:-8.04 [[ 9.65402482e-01 2.55941271e-01 4.99210690e-02 1.24039165e+02] [-2.55630158e-01 9.66692165e-01 -1.26285742e-02 -2.25876379e+01] [-5.14904796e-02 -5.69673918e-04 9.98673323e-01 -8.03971355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:-22.60, Z:-8.04 [[ 9.65149665e-01 2.56889215e-01 4.99405187e-02 1.24071277e+02] [-2.56578644e-01 9.66440664e-01 -1.26428563e-02 -2.25958050e+01] [-5.15123615e-02 -6.11422049e-04 9.98672170e-01 -8.04253328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:124.10, Y:-22.60, Z:-8.05 [[ 9.64913177e-01 2.57948917e-01 4.90399592e-02 1.24102947e+02] [-2.57650321e-01 9.66158340e-01 -1.24247136e-02 -2.26039421e+01] [-5.05853070e-02 -6.46391352e-04 9.98719535e-01 -8.04614811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:-22.62, Z:-8.05 [[ 9.64312484e-01 2.59701631e-01 5.15412153e-02 1.24132238e+02] [-2.59629261e-01 9.65673453e-01 -8.21154770e-03 -2.26160205e+01] [-5.19045357e-02 -5.46310968e-03 9.98637108e-01 -8.04696527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-22.62, Z:-8.05 [[ 9.64180419e-01 2.60836753e-01 4.81695756e-02 1.24165186e+02] [-2.60311798e-01 9.65375322e-01 -1.69780640e-02 -2.26191511e+01] [-5.09302226e-02 3.83080798e-03 9.98694867e-01 -8.04986098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.20, Y:-22.63, Z:-8.05 [[ 9.64008828e-01 2.61314332e-01 4.90081634e-02 1.24196384e+02] [-2.61019298e-01 9.65253428e-01 -1.24397031e-02 -2.26300066e+01] [-5.05559704e-02 -8.00092780e-04 9.98720909e-01 -8.05188625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:-22.64, Z:-8.05 [[ 9.63794346e-01 2.61909517e-01 5.00386255e-02 1.24228248e+02] [-2.61602214e-01 9.65092069e-01 -1.27114412e-02 -2.26390095e+01] [-5.16211280e-02 -8.39000115e-04 9.98666388e-01 -8.05247346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:-22.65, Z:-8.05 [[ 9.63808118e-01 2.61889677e-01 4.98769397e-02 1.24260105e+02] [-2.61583801e-01 9.65097464e-01 -1.26806657e-02 -2.26477806e+01] [-5.14570435e-02 -8.25270872e-04 9.98674868e-01 -8.05460819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:-22.66, Z:-8.06 [[ 9.63864242e-01 2.61720782e-01 4.96785144e-02 1.24291193e+02] [-2.61416575e-01 9.65143299e-01 -1.26406689e-02 -2.26564861e+01] [-5.12552110e-02 -8.02898323e-04 9.98685265e-01 -8.05713536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:-22.66, Z:-8.06 [[ 9.63842020e-01 2.61803116e-01 4.96758362e-02 1.24323547e+02] [-2.61498477e-01 9.65120974e-01 -1.26511843e-02 -2.26648620e+01] [-5.12553108e-02 -7.96412497e-04 9.98685265e-01 -8.05939877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:-22.67, Z:-8.06 [[ 9.63961249e-01 2.61255293e-01 5.02432285e-02 1.24354013e+02] [-2.60942749e-01 9.65269431e-01 -1.27987464e-02 -2.26733944e+01] [-5.18419928e-02 -7.73110617e-04 9.98655001e-01 -8.06181968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:-22.68, Z:-8.06 [[ 9.64185190e-01 2.60284632e-01 5.09787198e-02 1.24385563e+02] [-2.59960990e-01 9.65531661e-01 -1.29959420e-02 -2.26834515e+01] [-5.26042120e-02 -7.21983618e-04 9.98615179e-01 -8.06423494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:-22.69, Z:-8.07 [[ 9.64335570e-01 2.59799903e-01 5.06055181e-02 1.24417256e+02] [-2.59479788e-01 9.65662232e-01 -1.29109471e-02 -2.26927221e+01] [-5.22221004e-02 -6.80623527e-04 9.98635263e-01 -8.06642754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.45, Y:-22.70, Z:-8.07 [[ 9.64453101e-01 2.59505211e-01 4.98724461e-02 1.24449050e+02] [-2.59193407e-01 9.65741492e-01 -1.27337687e-02 -2.27018515e+01] [-5.14683699e-02 -6.45486512e-04 9.98674417e-01 -8.06933579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:-22.71, Z:-8.07 [[ 9.64647490e-01 2.58882663e-01 4.93455799e-02 1.24480857e+02] [-2.58576099e-01 9.65908594e-01 -1.26091063e-02 -2.27113910e+01] [-5.09275987e-02 -5.96244771e-04 9.98702170e-01 -8.07108846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:-22.72, Z:-8.07 [[ 9.64681894e-01 2.58712322e-01 4.95659005e-02 1.24512085e+02] [-2.58402247e-01 9.65954243e-01 -1.26759659e-02 -2.27198701e+01] [-5.11578205e-02 -5.79665284e-04 9.98690413e-01 -8.07348990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:-22.73, Z:-8.08 [[ 9.64644696e-01 2.58884063e-01 4.93928438e-02 1.24544366e+02] [-2.58575895e-01 9.65908230e-01 -1.26411248e-02 -2.27286472e+01] [-5.09815401e-02 -5.77604797e-04 9.98699429e-01 -8.07522238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:-22.74, Z:-8.08 [[ 9.64207047e-01 2.60391320e-01 5.00113004e-02 1.24576536e+02] [-2.60076879e-01 9.65502942e-01 -1.28096274e-02 -2.27374350e+01] [-5.16215735e-02 -6.55649900e-04 9.98666503e-01 -8.07639323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:-22.75, Z:-8.08 [[ 9.63723763e-01 2.62127523e-01 5.02560545e-02 1.24608119e+02] [-2.61811813e-01 9.65032958e-01 -1.28826935e-02 -2.27454812e+01] [-5.18756575e-02 -7.42270910e-04 9.98653276e-01 -8.07786850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:-22.75, Z:-8.08 [[ 9.62560422e-01 2.66343560e-01 5.03839559e-02 1.24640538e+02] [-2.66031463e-01 9.63877681e-01 -1.29258545e-02 -2.27514559e+01] [-5.20066887e-02 -9.61801575e-04 9.98646273e-01 -8.07920072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:-22.76, Z:-8.08 [[ 9.61855589e-01 2.68753713e-01 5.10418206e-02 1.24672334e+02] [-2.68436208e-01 9.63208306e-01 -1.31057668e-02 -2.27575479e+01] [-5.26861291e-02 -1.09561773e-03 9.98610520e-01 -8.08158169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-22.76, Z:-8.08 [[ 9.61154262e-01 2.71031959e-01 5.21934998e-02 1.24703743e+02] [-2.70702691e-01 9.62569554e-01 -1.34129094e-02 -2.27636132e+01] [-5.38752009e-02 -1.23704581e-03 9.98546910e-01 -8.08364905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:124.74, Y:-22.77, Z:-8.09 [[ 9.60447221e-01 2.73410254e-01 5.28012111e-02 1.24735701e+02] [-2.73076538e-01 9.61896526e-01 -1.35749037e-02 -2.27700285e+01] [-5.45008194e-02 -1.38079343e-03 9.98512771e-01 -8.08707634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:-22.77, Z:-8.09 [[ 9.59810060e-01 2.75560677e-01 5.32067812e-02 1.24767210e+02] [-2.75224498e-01 9.61282504e-01 -1.36902643e-02 -2.27741496e+01] [-5.49192464e-02 -1.50375632e-03 9.98489667e-01 -8.08822532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03264000000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:124.80, Y:-22.78, Z:-8.09 [[ 9.59677148e-01 2.76083288e-01 5.28941393e-02 1.24799110e+02] [-2.75751310e-01 9.61132521e-01 -1.36195668e-02 -2.27806839e+01] [-5.45984123e-02 -1.51524122e-03 9.98507245e-01 -8.09219631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:-22.79, Z:-8.09 [[ 9.59700288e-01 2.75844830e-01 5.37120717e-02 1.24830801e+02] [-2.75501488e-01 9.61200987e-01 -1.38416952e-02 -2.27878948e+01] [-5.54462564e-02 -1.51387683e-03 9.98460525e-01 -8.09306604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:-22.79, Z:-8.10 [[ 9.60250147e-01 2.74056178e-01 5.30364628e-02 1.24862013e+02] [-2.73718143e-01 9.61712690e-01 -1.36776945e-02 -2.27931118e+01] [-5.47542960e-02 -1.38303392e-03 9.98498900e-01 -8.09521754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:-22.80, Z:-8.10 [[ 9.60604661e-01 2.72886341e-01 5.26472270e-02 1.24894446e+02] [-2.72550965e-01 9.62045406e-01 -1.35871030e-02 -2.27997719e+01] [-5.43567576e-02 -1.29721805e-03 9.98520736e-01 -8.09721413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:124.93, Y:-22.81, Z:-8.10 [[ 9.60948868e-01 2.71805978e-01 5.19498098e-02 1.24925555e+02] [-2.71477271e-01 9.62351312e-01 -1.34180165e-02 -2.28060099e+01] [-5.36410647e-02 -1.20916484e-03 9.98559550e-01 -8.10077965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:-22.81, Z:-8.10 [[ 9.61979776e-01 2.68259819e-01 5.12989285e-02 1.24956758e+02] [-2.67933732e-01 9.63346091e-01 -1.32598541e-02 -2.28121779e+01] [-5.29757083e-02 -9.89001904e-04 9.98595312e-01 -8.10207608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.99, Y:-22.82, Z:-8.11 [[ 9.62495534e-01 2.66551085e-01 5.05259002e-02 1.24988845e+02] [-2.66231918e-01 9.63820397e-01 -1.30693444e-02 -2.28190173e+01] [-5.21815412e-02 -8.72421699e-04 9.98637234e-01 -8.10555330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:-22.83, Z:-8.11 [[ 9.63085028e-01 2.64360139e-01 5.08030160e-02 1.25021702e+02] [-2.64033873e-01 9.64423744e-01 -1.31512806e-02 -2.28256745e+01] [-5.24723092e-02 -7.47915593e-04 9.98622099e-01 -8.10674548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:-22.83, Z:-8.11 [[ 9.64374444e-01 2.59491346e-01 5.14409595e-02 1.25054527e+02] [-2.59149350e-01 9.65745314e-01 -1.33267491e-02 -2.28319556e+01] [-5.31370417e-02 -4.78914951e-04 9.98587115e-01 -8.10908467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-22.84, Z:-8.11 [[ 9.65066108e-01 2.56785253e-01 5.20455702e-02 1.25086611e+02] [-2.56430636e-01 9.66468432e-01 -1.34944205e-02 -2.28404692e+01] [-5.37655688e-02 -3.23070824e-04 9.98553533e-01 -8.11143973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-22.85, Z:-8.11 [[ 9.66529545e-01 2.51341510e-01 5.14595462e-02 1.25117015e+02] [-2.50986537e-01 9.67898468e-01 -1.33533910e-02 -2.28496830e+01] [-5.31638774e-02 -9.20633828e-06 9.98585801e-01 -8.11325927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:-22.86, Z:-8.12 [[ 9.67132398e-01 2.49010615e-01 5.14649313e-02 1.25147540e+02] [-2.48651723e-01 9.68500747e-01 -1.33650063e-02 -2.28581448e+01] [-5.31718528e-02 1.28886714e-04 9.98585368e-01 -8.11566955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-22.87, Z:-8.12 [[ 9.67562489e-01 2.47338601e-01 5.14436287e-02 1.25179625e+02] [-2.46977125e-01 9.68929081e-01 -1.33692234e-02 -2.28671429e+01] [-5.31519528e-02 2.30159505e-04 9.98586409e-01 -8.11743310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264000000003 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:125.21, Y:-22.88, Z:-8.12 [[ 9.67845191e-01 2.46348145e-01 5.08751242e-02 1.25210886e+02] [-2.45992710e-01 9.69181359e-01 -1.32317906e-02 -2.28755357e+01] [-5.25668491e-02 2.91415218e-04 9.98617365e-01 -8.12123218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:-22.88, Z:-8.12 [[ 9.68026718e-01 2.45939151e-01 4.93782138e-02 1.25241174e+02] [-2.45603283e-01 9.69285219e-01 -1.28527088e-02 -2.28847196e+01] [-5.10225571e-02 3.14314123e-04 9.98697452e-01 -8.12201688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-22.89, Z:-8.12 [[ 9.67882529e-01 2.46629295e-01 4.87586038e-02 1.25273338e+02] [-2.46302218e-01 9.69109855e-01 -1.27006536e-02 -2.28932626e+01] [-5.03847967e-02 2.83388436e-04 9.98729839e-01 -8.12417337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51264000000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:125.30, Y:-22.90, Z:-8.13 [[ 9.67501070e-01 2.48127838e-01 4.87263284e-02 1.25304080e+02] [-2.47802564e-01 9.68727273e-01 -1.27027536e-02 -2.29008871e+01] [-5.03544300e-02 2.15418584e-04 9.98731388e-01 -8.12826402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:-22.91, Z:-8.13 [[ 9.66516819e-01 2.51781754e-01 4.95094629e-02 1.25335794e+02] [-2.51450221e-01 9.67784039e-01 -1.29166410e-02 -2.29086088e+01] [-5.11666425e-02 3.49854010e-05 9.98690129e-01 -8.12804438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:125.37, Y:-22.92, Z:-8.13 [[ 9.65961367e-01 2.53920139e-01 4.94287453e-02 1.25367149e+02] [-2.53591961e-01 9.67225185e-01 -1.29057869e-02 -2.29171517e+01] [-5.10857665e-02 -6.82408660e-05 9.98694267e-01 -8.13117559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:-22.93, Z:-8.13 [[ 9.65430031e-01 2.55849537e-01 4.98584943e-02 1.25397690e+02] [-2.55517626e-01 9.66716602e-01 -1.30289652e-02 -2.29256770e+01] [-5.15324889e-02 -1.61169839e-04 9.98671306e-01 -8.13162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:-22.93, Z:-8.13 [[ 9.64550275e-01 2.59135428e-01 4.99159081e-02 1.25428998e+02] [-2.58806625e-01 9.65840941e-01 -1.30540433e-02 -2.29322303e+01] [-5.15935928e-02 -3.27286639e-04 9.98668110e-01 -8.13400258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-22.94, Z:-8.14 [[ 9.64154479e-01 2.60519775e-01 5.03546140e-02 1.25460668e+02] [-2.60186553e-01 9.65468431e-01 -1.31782837e-02 -2.29407152e+01] [-5.20489936e-02 -3.95692211e-04 9.98644454e-01 -8.13599100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:125.49, Y:-22.95, Z:-8.14 [[ 9.63835711e-01 2.61587343e-01 5.09193883e-02 1.25491700e+02] [-2.61247499e-01 9.65179704e-01 -1.33372706e-02 -2.29493422e+01] [-5.26352214e-02 -4.47625115e-04 9.98613706e-01 -8.13980248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:125.52, Y:-22.96, Z:-8.14 [[ 9.63168231e-01 2.63918247e-01 5.15181338e-02 1.25523619e+02] [-2.63573150e-01 9.64544883e-01 -1.35041848e-02 -2.29562253e+01] [-5.32555531e-02 -5.71994973e-04 9.98580752e-01 -8.14073863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-22.96, Z:-8.14 [[ 9.62782457e-01 2.65304534e-01 5.16085787e-02 1.25555121e+02] [-2.64959601e-01 9.64164455e-01 -1.35393363e-02 -2.29626067e+01] [-5.33512044e-02 -6.38752902e-04 9.98575606e-01 -8.14087993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-22.97, Z:-8.14 [[ 9.62459687e-01 2.66469574e-01 5.16267175e-02 1.25586698e+02] [-2.66125511e-01 9.63843081e-01 -1.35545907e-02 -2.29689123e+01] [-5.33719405e-02 -6.93439443e-04 9.98574461e-01 -8.14316859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:-22.98, Z:-8.15 [[ 9.62193811e-01 2.67421573e-01 5.16601615e-02 1.25619284e+02] [-2.67077909e-01 9.63579347e-01 -1.35731868e-02 -2.29759591e+01] [-5.34084277e-02 -7.37251651e-04 9.98572479e-01 -8.14564366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:125.65, Y:-22.98, Z:-8.15 [[ 9.61752014e-01 2.68973886e-01 5.18277110e-02 1.25650909e+02] [-2.68629586e-01 9.63147125e-01 -1.36293878e-02 -2.29802298e+01] [-5.35836602e-02 -8.14365425e-04 9.98563032e-01 -8.15062325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:125.68, Y:-22.99, Z:-8.15 [[ 9.61597850e-01 2.69554063e-01 5.16738034e-02 1.25683590e+02] [-2.69212333e-01 9.62984893e-01 -1.35947005e-02 -2.29867700e+01] [-5.34255988e-02 -8.38590434e-04 9.98571481e-01 -8.15211025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:-22.99, Z:-8.15 [[ 9.61567135e-01 2.69641850e-01 5.17872375e-02 1.25715623e+02] [-2.69298156e-01 9.62960319e-01 -1.36355199e-02 -2.29925030e+01] [-5.35457616e-02 -8.34739787e-04 9.98565048e-01 -8.15211649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:-23.00, Z:-8.15 [[ 9.61734837e-01 2.69062006e-01 5.16888861e-02 1.25745753e+02] [-2.68718111e-01 9.63122534e-01 -1.36221154e-02 -2.29980878e+01] [-5.34479246e-02 -7.88876865e-04 9.98570327e-01 -8.15450184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:-23.00, Z:-8.16 [[ 9.61903887e-01 2.68543771e-01 5.12362741e-02 1.25777362e+02] [-2.68205235e-01 9.63267187e-01 -1.35010813e-02 -2.30035178e+01] [-5.29798529e-02 -7.55094348e-04 9.98595296e-01 -8.15688247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:-23.01, Z:-8.16 [[ 9.62122067e-01 2.67857833e-01 5.07277975e-02 1.25808040e+02] [-2.67524546e-01 9.63458193e-01 -1.33763993e-02 -2.30088935e+01] [-5.24570854e-02 -7.01202053e-04 9.98622933e-01 -8.15951542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:-23.01, Z:-8.16 [[ 9.62958611e-01 2.64871755e-01 5.05338308e-02 1.25840893e+02] [-2.64536493e-01 9.64283503e-01 -1.33330364e-02 -2.30140153e+01] [-5.22604841e-02 -5.28880207e-04 9.98633347e-01 -8.16210339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:-23.02, Z:-8.16 [[ 9.63442547e-01 2.62987955e-01 5.11448320e-02 1.25871791e+02] [-2.62641237e-01 9.64799025e-01 -1.35063480e-02 -2.30210510e+01] [-5.28964909e-02 -4.20151636e-04 9.98599912e-01 -8.16367565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:125.90, Y:-23.03, Z:-8.17 [[ 9.63866198e-01 2.61362306e-01 5.14946419e-02 1.25903419e+02] [-2.61008200e-01 9.65240715e-01 -1.36044762e-02 -2.30279725e+01] [-5.32604222e-02 -3.27628989e-04 9.98580603e-01 -8.16747873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:-23.03, Z:-8.17 [[ 9.64751124e-01 2.58126869e-01 5.12424520e-02 1.25936527e+02] [-2.57771091e-01 9.66111019e-01 -1.35485781e-02 -2.30337029e+01] [-5.30031496e-02 -1.37816798e-04 9.98594336e-01 -8.16740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.97, Y:-23.04, Z:-8.17 [[ 9.65080299e-01 2.56898265e-01 5.12181491e-02 1.25968181e+02] [-2.56540504e-01 9.66438450e-01 -1.35532953e-02 -2.30401666e+01] [-5.29810067e-02 -5.95115279e-05 9.98595518e-01 -8.17187963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:-23.04, Z:-8.17 [[ 9.65616983e-01 2.54858677e-01 5.12922701e-02 1.26000778e+02] [-2.54496443e-01 9.66978309e-01 -1.35834257e-02 -2.30444560e+01] [-5.30603665e-02 6.26862347e-05 9.98591305e-01 -8.17175715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-23.05, Z:-8.17 [[ 9.65741450e-01 2.54363233e-01 5.14081526e-02 1.26030229e+02] [-2.53998025e-01 9.67108751e-01 -1.36260006e-02 -2.30498434e+01] [-5.31832278e-02 1.01624311e-04 9.98584766e-01 -8.17387913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.06, Y:-23.06, Z:-8.18 [[ 9.65906989e-01 2.53817389e-01 5.09943306e-02 1.26059886e+02] [-2.53457245e-01 9.67252147e-01 -1.35169837e-02 -2.30564281e+01] [-5.27552213e-02 1.31266514e-04 9.98607465e-01 -8.17718447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:-23.06, Z:-8.18 [[ 9.66084097e-01 2.53166117e-01 5.08766576e-02 1.26090566e+02] [-2.52806708e-01 9.67422808e-01 -1.34862467e-02 -2.30643339e+01] [-5.26334997e-02 1.66888152e-04 9.98613883e-01 -8.17838488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:126.12, Y:-23.07, Z:-8.18 [[ 9.66218263e-01 2.52542524e-01 5.14251145e-02 1.26119933e+02] [-2.52174389e-01 9.67585775e-01 -1.36325166e-02 -2.30696315e+01] [-5.32009994e-02 2.03889660e-04 9.98583803e-01 -8.18187923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.15, Y:-23.08, Z:-8.18 [[ 9.66216954e-01 2.52461061e-01 5.18479580e-02 1.26148968e+02] [-2.52086501e-01 9.67607031e-01 -1.37487806e-02 -2.30752725e+01] [-5.36394805e-02 2.14134539e-04 9.98560344e-01 -8.18369199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:-23.08, Z:-8.18 [[ 9.66213368e-01 2.52483737e-01 5.18043449e-02 1.26179079e+02] [-2.52109886e-01 9.67601115e-01 -1.37363711e-02 -2.30823065e+01] [-5.35941522e-02 2.11877905e-04 9.98562778e-01 -8.18350729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:-23.09, Z:-8.19 [[ 9.66088044e-01 2.53078547e-01 5.12361269e-02 1.26210069e+02] [-2.52713713e-01 9.67445718e-01 -1.35853317e-02 -2.30890259e+01] [-5.30063276e-02 1.76554691e-04 9.98594161e-01 -8.18607841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41264 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:126.24, Y:-23.10, Z:-8.19 [[ 9.66010566e-01 2.53592486e-01 5.01441676e-02 1.26240824e+02] [-2.53243674e-01 9.67311134e-01 -1.32970821e-02 -2.30952261e+01] [-5.18770518e-02 1.46428553e-04 9.98653468e-01 -8.19047001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:-23.10, Z:-8.19 [[ 9.65727505e-01 2.54886472e-01 4.90231766e-02 1.26270354e+02] [-2.54554680e-01 9.66970982e-01 -1.30013179e-02 -2.31012488e+01] [-5.07178493e-02 7.66512848e-05 9.98713019e-01 -8.19098531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:-23.11, Z:-8.19 [[ 9.65736424e-01 2.54852749e-01 4.90228087e-02 1.26298663e+02] [-2.54520843e-01 9.66979871e-01 -1.30027051e-02 -2.31086678e+01] [-5.07178444e-02 7.98592978e-05 9.98713019e-01 -8.19296604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:-23.12, Z:-8.19 [[ 9.65543281e-01 2.55547476e-01 4.92103736e-02 1.26326121e+02] [-2.55214010e-01 9.66796507e-01 -1.30508008e-02 -2.31155034e+01] [-5.09115165e-02 4.19362969e-05 9.98703167e-01 -8.19497662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:-23.12, Z:-8.20 [[ 9.65346357e-01 2.56283709e-01 4.92450105e-02 1.26353215e+02] [-2.55950847e-01 9.66601604e-01 -1.30577085e-02 -2.31219537e+01] [-5.09467841e-02 9.09227034e-07 9.98701369e-01 -8.19682786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:-23.13, Z:-8.20 [[ 9.65075327e-01 2.57354014e-01 4.89747375e-02 1.26382010e+02] [-2.57026359e-01 9.66317188e-01 -1.29823997e-02 -2.31283861e+01] [-5.06662033e-02 -5.88048294e-05 9.98715641e-01 -8.19870835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.41, Y:-23.13, Z:-8.20 [[ 9.64884588e-01 2.58041369e-01 4.91160190e-02 1.26410230e+02] [-2.57712773e-01 9.66133864e-01 -1.30185942e-02 -2.31349072e+01] [-5.08119851e-02 -9.63845623e-05 9.98708232e-01 -8.20178624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.44, Y:-23.14, Z:-8.20 [[ 9.64688701e-01 2.58759901e-01 4.91835765e-02 1.26438640e+02] [-2.58431410e-01 9.65941662e-01 -1.30350140e-02 -2.31412391e+01] [-5.08814046e-02 -1.35850268e-04 9.98704693e-01 -8.20401935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:-23.15, Z:-8.20 [[ 9.64394034e-01 2.59690500e-01 5.00498967e-02 1.26467076e+02] [-2.59351646e-01 9.65691881e-01 -1.32632994e-02 -2.31476371e+01] [-5.17771318e-02 -1.89476303e-04 9.98658647e-01 -8.20454992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:126.50, Y:-23.16, Z:-8.21 [[ 9.64339211e-01 2.59791117e-01 5.05812326e-02 1.26495398e+02] [-2.59445246e-01 9.65664816e-01 -1.34025335e-02 -2.31554644e+01] [-5.23263758e-02 -1.98471724e-04 9.98630017e-01 -8.20829308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:-23.16, Z:-8.21 [[ 9.64315168e-01 2.59711335e-01 5.14420051e-02 1.26523307e+02] [-2.59353543e-01 9.65686276e-01 -1.36292538e-02 -2.31641265e+01] [-5.32165100e-02 -1.98770066e-04 9.98582978e-01 -8.20826908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:-23.17, Z:-8.21 [[ 9.64369981e-01 2.59451536e-01 5.17246636e-02 1.26552186e+02] [-2.59089509e-01 9.65756111e-01 -1.37025901e-02 -2.31724986e+01] [-5.35085680e-02 -1.86951097e-04 9.98567373e-01 -8.20973790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:-23.18, Z:-8.21 [[ 9.64414237e-01 2.59330451e-01 5.15062835e-02 1.26579833e+02] [-2.58971367e-01 9.65788633e-01 -1.36435639e-02 -2.31794506e+01] [-5.32823748e-02 -1.80605343e-04 9.98579469e-01 -8.21081607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:-23.19, Z:-8.21 [[ 9.64376085e-01 2.59487369e-01 5.14302646e-02 1.26607247e+02] [-2.59129676e-01 9.65746483e-01 -1.36213970e-02 -2.31858251e+01] [-5.32031776e-02 -1.90958277e-04 9.98583690e-01 -8.21289803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:-23.19, Z:-8.22 [[ 9.63940841e-01 2.61141827e-01 5.12152385e-02 1.26635163e+02] [-2.60789549e-01 9.65300402e-01 -1.35626396e-02 -2.31923352e+01] [-5.29798628e-02 -2.82816696e-04 9.98595541e-01 -8.21526275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:-23.20, Z:-8.22 [[ 9.63553796e-01 2.62568434e-01 5.12044975e-02 1.26663044e+02] [-2.62218457e-01 9.64913304e-01 -1.35571359e-02 -2.31999754e+01] [-5.29675768e-02 -3.63734566e-04 9.98596166e-01 -8.21711358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:-23.21, Z:-8.22 [[ 9.62967523e-01 2.64645480e-01 5.15395016e-02 1.26689426e+02] [-2.64294012e-01 9.64345652e-01 -1.36432798e-02 -2.32075566e+01] [-5.33125266e-02 -4.83546320e-04 9.98577759e-01 -8.21824635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:-23.21, Z:-8.22 [[ 9.61540413e-01 2.69727131e-01 5.18392586e-02 1.26717656e+02] [-2.69379121e-01 9.62936487e-01 -1.37190485e-02 -2.32138672e+01] [-5.36183131e-02 -7.72994338e-04 9.98561204e-01 -8.21975868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:-23.22, Z:-8.22 [[ 9.60760486e-01 2.72496986e-01 5.18139038e-02 1.26745313e+02] [-2.72153473e-01 9.62156187e-01 -1.37097941e-02 -2.32191253e+01] [-5.35889457e-02 -9.29505381e-04 9.98562647e-01 -8.22180620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-23.22, Z:-8.22 [[ 9.60030524e-01 2.75062234e-01 5.17895761e-02 1.26773483e+02] [-2.74722957e-01 9.61425822e-01 -1.36998561e-02 -2.32238367e+01] [-5.35601488e-02 -1.07550540e-03 9.98564046e-01 -8.22317972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:-23.23, Z:-8.23 [[ 9.58975160e-01 2.78625621e-01 5.22915539e-02 1.26801381e+02] [-2.78285159e-01 9.60398928e-01 -1.38300221e-02 -2.32257684e+01] [-5.40741508e-02 -1.28931578e-03 9.98536090e-01 -8.22595548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:-23.23, Z:-8.23 [[ 9.58612539e-01 2.79855640e-01 5.23719447e-02 1.26828988e+02] [-2.79516166e-01 9.60041124e-01 -1.38475201e-02 -2.32315537e+01] [-5.41545272e-02 -1.36439883e-03 9.98531635e-01 -8.22792612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.86, Y:-23.24, Z:-8.23 [[ 9.58432410e-01 2.80440664e-01 5.25390291e-02 1.26856726e+02] [-2.80100107e-01 9.59870334e-01 -1.38878341e-02 -2.32364318e+01] [-5.43253688e-02 -1.40563742e-03 9.98522297e-01 -8.23160412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:126.88, Y:-23.24, Z:-8.23 [[ 9.58289032e-01 2.80795542e-01 5.32540501e-02 1.26883566e+02] [-2.80446408e-01 9.59766515e-01 -1.40729709e-02 -2.32383165e+01] [-5.50630815e-02 -1.44893336e-03 9.98481826e-01 -8.23365108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:-23.24, Z:-8.23 [[ 9.58362641e-01 2.80617508e-01 5.28664521e-02 1.26911872e+02] [-2.80273519e-01 9.59818606e-01 -1.39641614e-02 -2.32430046e+01] [-5.46607925e-02 -1.43433597e-03 9.98503951e-01 -8.23304632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:126.94, Y:-23.25, Z:-8.24 [[ 9.58512880e-01 2.80148007e-01 5.26322470e-02 1.26938892e+02] [-2.79806552e-01 9.59955791e-01 -1.38986736e-02 -2.32458560e+01] [-5.44183161e-02 -1.40478988e-03 9.98517237e-01 -8.23721481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:-23.25, Z:-8.24 [[ 9.58761774e-01 2.79380041e-01 5.21790505e-02 1.26966971e+02] [-2.79043656e-01 9.60179647e-01 -1.37725530e-02 -2.32494802e+01] [-5.39490387e-02 -1.35563563e-03 9.98542770e-01 -8.23756891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:126.99, Y:-23.25, Z:-8.24 [[ 9.59458118e-01 2.76849631e-01 5.28620989e-02 1.26994733e+02] [-2.76500761e-01 9.60912463e-01 -1.39487610e-02 -2.32516119e+01] [-5.46575590e-02 -1.23315863e-03 9.98504397e-01 -8.24159968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:-23.26, Z:-8.24 [[ 9.59898124e-01 2.75282991e-01 5.30553198e-02 1.27022049e+02] [-2.74929399e-01 9.61362548e-01 -1.39956373e-02 -2.32580281e+01] [-5.48581583e-02 -1.15208124e-03 9.98493493e-01 -8.24141123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:-23.26, Z:-8.24 [[ 9.60423316e-01 2.73456303e-01 5.29972060e-02 1.27049753e+02] [-2.73100936e-01 9.61883853e-01 -1.39761299e-02 -2.32631570e+01] [-5.47990175e-02 -1.05058550e-03 9.98496852e-01 -8.24289286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:-23.26, Z:-8.25 [[ 9.61474769e-01 2.69919912e-01 5.20529552e-02 1.27077589e+02] [-2.69572128e-01 9.62882412e-01 -1.37232636e-02 -2.32641919e+01] [-5.38250572e-02 -8.37454163e-04 9.98550030e-01 -8.24520069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:127.10, Y:-23.27, Z:-8.25 [[ 9.62095762e-01 2.67829277e-01 5.13733679e-02 1.27104982e+02] [-2.67487800e-01 9.63466121e-01 -1.35392414e-02 -2.32689994e+01] [-5.31227048e-02 -7.15702342e-04 9.98587736e-01 -8.24974260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:-23.27, Z:-8.25 [[ 9.62724008e-01 2.65659400e-01 5.08681393e-02 1.27131450e+02] [-2.65321780e-01 9.64066767e-01 -1.34023364e-02 -2.32746828e+01] [-5.26007392e-02 -5.93674195e-04 9.98615446e-01 -8.25035046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-23.28, Z:-8.25 [[ 9.63861659e-01 2.61471745e-01 5.10218527e-02 1.27158532e+02] [-2.61126457e-01 9.65211059e-01 -1.34381751e-02 -2.32775939e+01] [-5.27605596e-02 -3.70613851e-04 9.98607123e-01 -8.25241710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:127.19, Y:-23.28, Z:-8.26 [[ 9.64390976e-01 2.59468201e-01 5.12474237e-02 1.27185664e+02] [-2.59117279e-01 9.65751615e-01 -1.34927444e-02 -2.32840461e+01] [-5.29932204e-02 -2.66812007e-04 9.98594836e-01 -8.25642763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.21, Y:-23.29, Z:-8.26 [[ 9.65281905e-01 2.56153918e-01 5.11469898e-02 1.27212406e+02] [-2.55799928e-01 9.66636003e-01 -1.34623316e-02 -2.32907646e+01] [-5.28889508e-02 -8.84512541e-05 9.98600396e-01 -8.25725566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49264000000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:127.24, Y:-23.30, Z:-8.26 [[ 9.65572578e-01 2.55038300e-01 5.12353681e-02 1.27239430e+02] [-2.54681721e-01 9.66930951e-01 -1.34816998e-02 -2.32953700e+01] [-5.29794130e-02 -3.11521026e-05 9.98595604e-01 -8.25876370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.27, Y:-23.30, Z:-8.26 [[ 9.65704314e-01 2.54559171e-01 5.11351715e-02 1.27267085e+02] [-2.54203575e-01 9.67057200e-01 -1.34504442e-02 -2.33001316e+01] [-5.28745697e-02 -9.59137765e-06 9.98601162e-01 -8.26037053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:-23.31, Z:-8.26 [[ 9.65704885e-01 2.54574870e-01 5.10461615e-02 1.27294370e+02] [-2.54220736e-01 9.67053067e-01 -1.34231913e-02 -2.33057824e+01] [-5.27815542e-02 -1.41512929e-05 9.98606082e-01 -8.25991430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.32, Y:-23.31, Z:-8.26 [[ 9.65440582e-01 2.55526693e-01 5.12892992e-02 1.27320675e+02] [-2.55170723e-01 9.66801999e-01 -1.34832308e-02 -2.33100820e+01] [-5.30319223e-02 -7.02693899e-05 9.98592815e-01 -8.26373634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.35, Y:-23.32, Z:-8.27 [[ 9.65324532e-01 2.55925934e-01 5.14826559e-02 1.27347674e+02] [-2.55568102e-01 9.66696388e-01 -1.35291624e-02 -2.33162816e+01] [-5.32305610e-02 -9.72923069e-05 9.98582244e-01 -8.26578639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.38, Y:-23.32, Z:-8.27 [[ 9.65242271e-01 2.56146270e-01 5.19273209e-02 1.27375013e+02] [-2.55782766e-01 9.66638027e-01 -1.36418983e-02 -2.33230042e+01] [-5.36892444e-02 -1.14376872e-04 9.98557686e-01 -8.26737643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:-23.33, Z:-8.27 [[ 9.65242645e-01 2.56189192e-01 5.17081625e-02 1.27402674e+02] [-2.55829032e-01 9.66626652e-01 -1.35802378e-02 -2.33298494e+01] [-5.34615981e-02 -1.20224477e-04 9.98569899e-01 -8.26679893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:-23.34, Z:-8.27 [[ 9.65284231e-01 2.56165837e-01 5.10432872e-02 1.27428835e+02] [-2.55815054e-01 9.66632841e-01 -1.34018241e-02 -2.33360217e+01] [-5.27732072e-02 -1.21071803e-04 9.98606516e-01 -8.26863985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:-23.34, Z:-8.27 [[ 9.65343487e-01 2.56043533e-01 5.05337705e-02 1.27455276e+02] [-2.55699796e-01 9.66665245e-01 -1.32634562e-02 -2.33424329e+01] [-5.22452618e-02 -1.17683781e-04 9.98634277e-01 -8.27079668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:-23.35, Z:-8.27 [[ 9.65427095e-01 2.55933838e-01 4.94812576e-02 1.27481994e+02] [-2.55604361e-01 9.66694294e-01 -1.29827816e-02 -2.33479148e+01] [-5.11559825e-02 -1.13696142e-04 9.98690669e-01 -8.27269746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.51, Y:-23.35, Z:-8.28 [[ 9.65402700e-01 2.55972544e-01 4.97562434e-02 1.27509027e+02] [-2.55639681e-01 9.66684045e-01 -1.30503344e-02 -2.33543600e+01] [-5.14390939e-02 -1.20842137e-04 9.98676126e-01 -8.27605250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:-23.36, Z:-8.28 [[ 9.65307213e-01 2.56182904e-01 5.05203373e-02 1.27536305e+02] [-2.55840233e-01 9.66628316e-01 -1.32466816e-02 -2.33613769e+01] [-5.22279619e-02 -1.38017602e-04 9.98635179e-01 -8.27573799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:-23.37, Z:-8.28 [[ 9.65092407e-01 2.56815585e-01 5.14042933e-02 1.27564004e+02] [-2.56461926e-01 9.66460409e-01 -1.34743338e-02 -2.33679331e+01] [-5.31406333e-02 -1.79266787e-04 9.98587022e-01 -8.27653222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:-23.37, Z:-8.28 [[ 9.64925466e-01 2.57457332e-01 5.13280363e-02 1.27589978e+02] [-2.57105833e-01 9.66289643e-01 -1.34504956e-02 -2.33740429e+01] [-5.30606787e-02 -2.18011761e-04 9.98591266e-01 -8.27819394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.62, Y:-23.38, Z:-8.28 [[ 9.64694256e-01 2.58328881e-01 5.12950395e-02 1.27616775e+02] [-2.57979322e-01 9.66056994e-01 -1.34370173e-02 -2.33801162e+01] [-5.30251014e-02 -2.70446085e-04 9.98593143e-01 -8.28184691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:-23.39, Z:-8.28 [[ 9.64025896e-01 2.60686846e-01 5.19272630e-02 1.27643776e+02] [-2.60332241e-01 9.65423327e-01 -1.35986407e-02 -2.33852477e+01] [-5.36767778e-02 -4.08898984e-04 9.98558279e-01 -8.28140721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:-23.39, Z:-8.28 [[ 9.63718916e-01 2.61899966e-01 5.15194948e-02 1.27671029e+02] [-2.61552904e-01 9.65094907e-01 -1.34869914e-02 -2.33908560e+01] [-5.32534446e-02 -4.77404694e-04 9.98580914e-01 -8.28298251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.70, Y:-23.40, Z:-8.29 [[ 9.63305836e-01 2.63504949e-01 5.10588737e-02 1.27697318e+02] [-2.63166520e-01 9.64657879e-01 -1.33626225e-02 -2.33967673e+01] [-5.27754620e-02 -5.64693920e-04 9.98606245e-01 -8.28632700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:-23.40, Z:-8.29 [[ 9.62389796e-01 2.67005304e-01 5.01402880e-02 1.27724060e+02] [-2.66683926e-01 9.63694770e-01 -1.31177174e-02 -2.34027631e+01] [-5.18224334e-02 -7.47251517e-04 9.98656035e-01 -8.28610324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:-23.41, Z:-8.29 [[ 9.61917479e-01 2.68637497e-01 5.04842540e-02 1.27751399e+02] [-2.68314184e-01 9.63240977e-01 -1.32029652e-02 -2.34078977e+01] [-5.21753137e-02 -8.45478409e-04 9.98637583e-01 -8.28796460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:-23.41, Z:-8.29 [[ 9.61296111e-01 2.70824796e-01 5.06331606e-02 1.27778793e+02] [-2.70502801e-01 9.62628167e-01 -1.32380940e-02 -2.34109719e+01] [-5.23261107e-02 -9.70683481e-04 9.98629579e-01 -8.29014564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:-23.42, Z:-8.29 [[ 9.61223054e-01 2.71024467e-01 5.09507586e-02 1.27806244e+02] [-2.70698957e-01 9.62571947e-01 -1.33162090e-02 -2.34161292e+01] [-5.26527894e-02 -9.92470110e-04 9.98612387e-01 -8.29206070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:127.83, Y:-23.42, Z:-8.30 [[ 9.61356249e-01 2.70429051e-01 5.15973883e-02 1.27833704e+02] [-2.70094577e-01 9.62739412e-01 -1.34812185e-02 -2.34209166e+01] [-5.33205524e-02 -9.75921161e-04 9.98576971e-01 -8.29517879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:-23.43, Z:-8.29 [[ 9.62296589e-01 2.66967778e-01 5.20910803e-02 1.27861280e+02] [-2.66622013e-01 9.63705128e-01 -1.36062242e-02 -2.34261618e+01] [-5.38328646e-02 -7.95405479e-04 9.98549643e-01 -8.29458702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:-23.43, Z:-8.30 [[ 9.63019150e-01 2.64357533e-01 5.20500897e-02 1.27887077e+02] [-2.64008711e-01 9.64424527e-01 -1.35916115e-02 -2.34331864e+01] [-5.37914280e-02 -6.52694939e-04 9.98551980e-01 -8.29675684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:-23.44, Z:-8.30 [[ 9.63871517e-01 2.61290865e-01 5.17569600e-02 1.27914537e+02] [-2.60941804e-01 9.65259991e-01 -1.35101816e-02 -2.34404784e+01] [-5.34890098e-02 -4.83475250e-04 9.98568321e-01 -8.29882882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.94, Y:-23.45, Z:-8.30 [[ 9.64624390e-01 2.58585575e-01 5.13155655e-02 1.27941430e+02] [-2.58238821e-01 9.65988296e-01 -1.33911436e-02 -2.34472276e+01] [-5.30329923e-02 -3.34247434e-04 9.98592705e-01 -8.30236225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:127.97, Y:-23.45, Z:-8.30 [[ 9.65878470e-01 2.54050164e-01 5.03715775e-02 1.27968666e+02] [-2.53710078e-01 9.67191039e-01 -1.31411450e-02 -2.34531858e+01] [-5.20574485e-02 -8.70277956e-05 9.98644088e-01 -8.30450175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:-23.46, Z:-8.30 [[ 9.66265025e-01 2.52605833e-01 5.02214565e-02 1.27995686e+02] [-2.52266024e-01 9.67569270e-01 -1.30981011e-02 -2.34594368e+01] [-5.19013948e-02 -1.29301363e-05 9.98652214e-01 -8.30396814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:-23.47, Z:-8.31 [[ 9.66536511e-01 2.51572451e-01 5.01844071e-02 1.28023507e+02] [-2.51231953e-01 9.67838468e-01 -1.30845476e-02 -2.34653110e+01] [-5.18621114e-02 3.87663377e-05 9.98654254e-01 -8.30609130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:-23.47, Z:-8.31 [[ 9.66551845e-01 2.51513330e-01 5.01854126e-02 1.28051047e+02] [-2.51172952e-01 9.67853834e-01 -1.30806900e-02 -2.34723604e+01] [-5.18621118e-02 3.79467992e-05 9.98654254e-01 -8.30801555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:-23.48, Z:-8.31 [[ 9.67035822e-01 2.49797131e-01 4.94278461e-02 1.28078569e+02] [-2.49464869e-01 9.68298186e-01 -1.28802814e-02 -2.34787129e+01] [-5.10783510e-02 1.25182414e-04 9.98694641e-01 -8.31029711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:-23.49, Z:-8.31 [[ 9.67253857e-01 2.48938624e-01 4.94928062e-02 1.28105772e+02] [-2.48604562e-01 9.68519248e-01 -1.28933402e-02 -2.34863459e+01] [-5.11443858e-02 1.66995622e-04 9.98691256e-01 -8.31199019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264000000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:128.13, Y:-23.49, Z:-8.32 [[ 9.67447701e-01 2.48039912e-01 5.02110387e-02 1.28132529e+02] [-2.47695075e-01 9.68749790e-01 -1.30764436e-02 -2.34936514e+01] [-5.18854131e-02 2.13748297e-04 9.98653022e-01 -8.31555615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:-23.50, Z:-8.31 [[ 9.68026999e-01 2.45643522e-01 5.08231152e-02 1.28158787e+02] [-2.45287123e-01 9.69360172e-01 -1.32319474e-02 -2.35022369e+01] [-5.25162459e-02 3.42626588e-04 9.98620011e-01 -8.31443291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:-23.51, Z:-8.32 [[ 9.68481058e-01 2.43862834e-01 5.07479939e-02 1.28186228e+02] [-2.43505300e-01 9.69809636e-01 -1.32075379e-02 -2.35090137e+01] [-5.24367211e-02 4.33844841e-04 9.98624155e-01 -8.31592511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.21, Y:-23.52, Z:-8.32 [[ 9.68899469e-01 2.42194854e-01 5.07491000e-02 1.28211841e+02] [-2.41835217e-01 9.70227490e-01 -1.32040210e-02 -2.35151826e+01] [-5.24361178e-02 5.20449335e-04 9.98624145e-01 -8.31984702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.24, Y:-23.52, Z:-8.32 [[ 9.69807099e-01 2.38609442e-01 5.03956898e-02 1.28237890e+02] [-2.38250197e-01 9.71115357e-01 -1.31074767e-02 -2.35237021e+01] [-5.20675960e-02 7.04940881e-04 9.98643314e-01 -8.32243991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63264000000004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:128.26, Y:-23.53, Z:-8.32 [[ 9.70262219e-01 2.36652714e-01 5.08598041e-02 1.28264234e+02] [-2.36284384e-01 9.71593965e-01 -1.32233795e-02 -2.35322230e+01] [-5.25444274e-02 8.12768036e-04 9.98618257e-01 -8.32479539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:128.29, Y:-23.54, Z:-8.33 [[ 9.70996422e-01 2.33547254e-01 5.12018382e-02 1.28290547e+02] [-2.33169843e-01 9.72344956e-01 -1.33083287e-02 -2.35437819e+01] [-5.28939727e-02 9.83615022e-04 9.98599650e-01 -8.32699300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:128.32, Y:-23.55, Z:-8.33 [[ 9.71226196e-01 2.32667555e-01 5.08476590e-02 1.28317596e+02] [-2.32294371e-01 9.72555792e-01 -1.32120003e-02 -2.35533996e+01] [-5.25261890e-02 1.02021585e-03 9.98619026e-01 -8.32807578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:-23.56, Z:-8.33 [[ 9.71319989e-01 2.32354121e-01 5.04880399e-02 1.28343803e+02] [-2.31985905e-01 9.72630714e-01 -1.31161554e-02 -2.35628548e+01] [-5.21538111e-02 1.02747028e-03 9.98638535e-01 -8.32755143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:128.37, Y:-23.57, Z:-8.33 [[ 9.71218367e-01 2.32815227e-01 5.03185133e-02 1.28371450e+02] [-2.32450276e-01 9.72520477e-01 -1.30687098e-02 -2.35706254e+01] [-5.19783792e-02 9.96018655e-04 9.98647714e-01 -8.33086244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:128.40, Y:-23.58, Z:-8.33 [[ 9.70959463e-01 2.34089344e-01 4.93953439e-02 1.28398536e+02] [-2.33739435e-01 9.72214665e-01 -1.28266351e-02 -2.35783098e+01] [-5.10254563e-02 9.08502949e-04 9.98696940e-01 -8.33231240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-23.59, Z:-8.33 [[ 9.69960121e-01 2.38499927e-01 4.79077139e-02 1.28425338e+02] [-2.38176298e-01 9.71142295e-01 -1.24375800e-02 -2.35862748e+01] [-4.94915692e-02 6.53474655e-04 9.98774328e-01 -8.33241294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.45, Y:-23.59, Z:-8.34 [[ 9.69261493e-01 2.41400249e-01 4.75192349e-02 1.28451729e+02] [-2.41085511e-01 9.70425511e-01 -1.23330581e-02 -2.35934669e+01] [-4.90910811e-02 4.97759294e-04 9.98794182e-01 -8.33611905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87264000000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:128.48, Y:-23.60, Z:-8.34 [[ 9.68021554e-01 2.46436764e-01 4.69381763e-02 1.28478060e+02] [-2.46135764e-01 9.69158844e-01 -1.21786538e-02 -2.36016123e+01] [-4.84918167e-02 2.36035463e-04 9.98823552e-01 -8.33875505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:-23.61, Z:-8.34 [[ 9.67521862e-01 2.48363361e-01 4.70859679e-02 1.28505146e+02] [-2.48062923e-01 9.68666931e-01 -1.22132511e-02 -2.36096131e+01] [-4.86439441e-02 1.36304536e-04 9.98816173e-01 -8.33822082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:-23.62, Z:-8.34 [[ 9.67083511e-01 2.49923010e-01 4.78327445e-02 1.28530737e+02] [-2.49615048e-01 9.68265711e-01 -1.24032926e-02 -2.36165860e+01] [-4.94146746e-02 5.52469591e-05 9.98778347e-01 -8.33975268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:-23.62, Z:-8.34 [[ 9.66534975e-01 2.51794840e-01 4.90866608e-02 1.28556698e+02] [-2.51473132e-01 9.67780635e-01 -1.27242692e-02 -2.36237235e+01] [-5.07090250e-02 -4.55251034e-05 9.98713469e-01 -8.34034430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:-23.63, Z:-8.34 [[ 9.66427763e-01 2.52249056e-01 4.88650385e-02 1.28584145e+02] [-2.51931176e-01 9.67662342e-01 -1.26599590e-02 -2.36311716e+01] [-5.04783203e-02 -7.56907139e-05 9.98725154e-01 -8.34172487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:-23.64, Z:-8.34 [[ 9.66396674e-01 2.52352599e-01 4.89452117e-02 1.28611439e+02] [-2.52034001e-01 9.67635344e-01 -1.26768990e-02 -2.36388613e+01] [-5.05601651e-02 -8.49444760e-05 9.98721013e-01 -8.34347139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.64, Y:-23.65, Z:-8.35 [[ 9.66522521e-01 2.51698967e-01 4.98181357e-02 1.28638062e+02] [-2.51368233e-01 9.67805573e-01 -1.28990116e-02 -2.36464168e+01] [-5.14609373e-02 -5.55114733e-05 9.98675007e-01 -8.34649316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.66, Y:-23.65, Z:-8.35 [[ 9.66791032e-01 2.50534404e-01 5.04738761e-02 1.28663653e+02] [-2.50193513e-01 9.68107697e-01 -1.30649784e-02 -2.36544531e+01] [-5.21373745e-02 2.86755219e-06 9.98639922e-01 -8.34690813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:-23.66, Z:-8.35 [[ 9.67090433e-01 2.49328679e-01 5.07080283e-02 1.28690163e+02] [-2.48983210e-01 9.68418921e-01 -1.31207917e-02 -2.36625718e+01] [-5.23780036e-02 6.35444513e-05 9.98627328e-01 -8.34809531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.72, Y:-23.67, Z:-8.35 [[ 9.67362493e-01 2.48176246e-01 5.11699000e-02 1.28716654e+02] [-2.47823054e-01 9.68714889e-01 -1.32362385e-02 -2.36703691e+01] [-5.28539640e-02 1.23159760e-04 9.98602245e-01 -8.35170497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:-23.68, Z:-8.35 [[ 9.68020452e-01 2.45616103e-01 5.10796932e-02 1.28742679e+02] [-2.45260819e-01 9.69367146e-01 -1.32086187e-02 -2.36797936e+01] [-5.27592258e-02 2.58365632e-04 9.98607229e-01 -8.35198579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:-23.69, Z:-8.35 [[ 9.68346119e-01 2.44418146e-01 5.06513976e-02 1.28769716e+02] [-2.44067346e-01 9.69669876e-01 -1.30943308e-02 -2.36885611e+01] [-5.23156265e-02 3.17492250e-04 9.98630550e-01 -8.35359995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:-23.70, Z:-8.36 [[ 9.68625083e-01 2.43520674e-01 4.96299309e-02 1.28796127e+02] [-2.43182833e-01 9.69895641e-01 -1.28278997e-02 -2.36974616e+01] [-5.12597124e-02 3.56278222e-04 9.98685293e-01 -8.35578344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:-23.71, Z:-8.36 [[ 9.68946726e-01 2.42444857e-01 4.86079678e-02 1.28823101e+02] [-2.42119610e-01 9.70165105e-01 -1.25604247e-02 -2.37079054e+01] [-5.02029645e-02 4.01440239e-04 9.98738955e-01 -8.35750499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:-23.72, Z:-8.36 [[ 9.68942047e-01 2.42383723e-01 4.90044948e-02 1.28849920e+02] [-2.42053186e-01 9.70180378e-01 -1.26605215e-02 -2.37163208e+01] [-5.06119037e-02 4.05617537e-04 9.98718314e-01 -8.35942970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.88, Y:-23.73, Z:-8.36 [[ 9.68667172e-01 2.43682985e-01 4.79845103e-02 1.28876952e+02] [-2.43367827e-01 9.69854884e-01 -1.23937548e-02 -2.37258979e+01] [-4.95581588e-02 3.27537397e-04 9.98771186e-01 -8.36169482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.90, Y:-23.73, Z:-8.36 [[ 9.68373891e-01 2.44854287e-01 4.79414739e-02 1.28903254e+02] [-2.44541241e-01 9.69559853e-01 -1.23803841e-02 -2.37341431e+01] [-4.95135185e-02 2.65173184e-04 9.98773418e-01 -8.36367723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:-23.74, Z:-8.36 [[ 9.67777419e-01 2.46659198e-01 5.06567567e-02 1.28927156e+02] [-2.46569150e-01 9.69091204e-01 -8.11743952e-03 -2.37449286e+01] [-5.10932584e-02 -4.63451878e-03 9.98683133e-01 -8.36464838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:-23.75, Z:-8.37 [[ 9.66900439e-01 2.50651075e-01 4.77239876e-02 1.28957241e+02] [-2.50114329e-01 9.68067026e-01 -1.70016476e-02 -2.37488683e+01] [-5.04615000e-02 4.50244743e-03 9.98715858e-01 -8.36554521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.98, Y:-23.76, Z:-8.37 [[ 9.66403392e-01 2.52360568e-01 4.87711812e-02 1.28983380e+02] [-2.52046381e-01 9.67633261e-01 -1.25894467e-02 -2.37580359e+01] [-5.03696971e-02 -1.26115773e-04 9.98730633e-01 -8.36813948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:129.01, Y:-23.77, Z:-8.37 [[ 9.65929659e-01 2.54155718e-01 4.88340599e-02 1.29010336e+02] [-2.53843204e-01 9.67163286e-01 -1.26018537e-02 -2.37651395e+01] [-5.04333430e-02 -2.23690022e-04 9.98727404e-01 -8.36967914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.04, Y:-23.77, Z:-8.37 [[ 9.65336352e-01 2.56385544e-01 4.89099160e-02 1.29036225e+02] [-2.56075083e-01 9.66574537e-01 -1.26181325e-02 -2.37722448e+01] [-5.05101861e-02 -3.43868744e-04 9.98723487e-01 -8.37207165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:-23.78, Z:-8.37 [[ 9.65227296e-01 2.56866419e-01 4.85377114e-02 1.29063002e+02] [-2.56561589e-01 9.66446845e-01 -1.25158550e-02 -2.37798442e+01] [-5.01240209e-02 -3.72267496e-04 9.98742932e-01 -8.37268347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:-23.79, Z:-8.37 [[ 9.65296323e-01 2.56612745e-01 4.85067740e-02 1.29089688e+02] [-2.56308129e-01 9.66514236e-01 -1.25049923e-02 -2.37865852e+01] [-5.00914281e-02 -3.61657365e-04 9.98744571e-01 -8.37452782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:-23.79, Z:-8.38 [[ 9.65557668e-01 2.55573388e-01 4.87917341e-02 1.29116395e+02] [-2.55264048e-01 9.66789608e-01 -1.25745968e-02 -2.37937143e+01] [-5.03850738e-02 -3.13277140e-04 9.98729816e-01 -8.37689094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-23.80, Z:-8.38 [[ 9.66536911e-01 2.51809638e-01 4.89725039e-02 1.29143131e+02] [-2.51493386e-01 9.67776778e-01 -1.26168741e-02 -2.38034148e+01] [-5.05715025e-02 -1.21586266e-04 9.98720436e-01 -8.37873166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:-23.81, Z:-8.38 [[ 9.67256465e-01 2.48961434e-01 4.93268286e-02 1.29170243e+02] [-2.48637017e-01 9.68513399e-01 -1.27055187e-02 -2.38117025e+01] [-5.09368786e-02 2.50195377e-05 9.98701874e-01 -8.38054762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.20, Y:-23.82, Z:-8.38 [[ 9.68659065e-01 2.43488255e-01 4.91231616e-02 1.29196427e+02] [-2.43159590e-01 9.69903796e-01 -1.26506776e-02 -2.38211464e+01] [-5.07250324e-02 3.09425703e-04 9.98712609e-01 -8.38303432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:-23.83, Z:-8.38 [[ 9.69326478e-01 2.40874910e-01 4.88411426e-02 1.29223534e+02] [-2.40546867e-01 9.70556069e-01 -1.25746253e-02 -2.38308978e+01] [-5.04319791e-02 4.40333370e-04 9.98727401e-01 -8.38393902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:129.25, Y:-23.84, Z:-8.39 [[ 9.70256084e-01 2.37195717e-01 4.83872215e-02 1.29251294e+02] [-2.36869319e-01 9.71461684e-01 -1.24548047e-02 -2.38427853e+01] [-4.99605580e-02 6.22901807e-04 9.98750997e-01 -8.38766937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.28, Y:-23.85, Z:-8.39 [[ 9.70552398e-01 2.36197167e-01 4.73174447e-02 1.29279329e+02] [-2.35883960e-01 9.71704927e-01 -1.21774952e-02 -2.38516841e+01] [-4.88548840e-02 6.57470915e-04 9.98805671e-01 -8.38893892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:129.31, Y:-23.86, Z:-8.39 [[ 9.70684920e-01 2.35695828e-01 4.70984392e-02 1.29307767e+02] [-2.35384856e-01 9.71826637e-01 -1.21225587e-02 -2.38600409e+01] [-4.86287543e-02 6.80925628e-04 9.98816690e-01 -8.39092311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.34, Y:-23.87, Z:-8.39 [[ 9.70683042e-01 2.35777921e-01 4.67247620e-02 1.29336096e+02] [-2.35472020e-01 9.71806731e-01 -1.20251926e-02 -2.38693811e+01] [-4.82427132e-02 6.70276438e-04 9.98835418e-01 -8.39224822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264000000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:129.36, Y:-23.88, Z:-8.39 [[ 9.70294471e-01 2.37443952e-01 4.63574033e-02 1.29364061e+02] [-2.37144801e-01 9.71401066e-01 -1.19294549e-02 -2.38806151e+01] [-4.78642079e-02 5.81666922e-04 9.98853683e-01 -8.39445864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:129.39, Y:-23.89, Z:-8.40 [[ 9.69921785e-01 2.38933907e-01 4.65007535e-02 1.29391934e+02] [-2.38634660e-01 9.71035699e-01 -1.19653660e-02 -2.38884151e+01] [-4.80128233e-02 5.08777713e-04 9.98846590e-01 -8.39606556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:-23.90, Z:-8.40 [[ 9.69399267e-01 2.40833905e-01 4.75824784e-02 1.29419231e+02] [-2.40522944e-01 9.70566253e-01 -1.22417877e-02 -2.38965286e+01] [-4.91301853e-02 4.22502236e-04 9.98792294e-01 -8.39587158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:129.45, Y:-23.90, Z:-8.40 [[ 9.68862931e-01 2.42787863e-01 4.85661917e-02 1.29447679e+02] [-2.42466464e-01 9.70079350e-01 -1.24927166e-02 -2.39044603e+01] [-5.01461397e-02 3.28057245e-04 9.98741837e-01 -8.39881027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:129.47, Y:-23.91, Z:-8.40 [[ 9.67786217e-01 2.46835218e-01 4.96206982e-02 1.29474991e+02] [-2.46505069e-01 9.69057460e-01 -1.27628396e-02 -2.39149873e+01] [-5.12356261e-02 1.19946610e-04 9.98686586e-01 -8.40012956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.50, Y:-23.92, Z:-8.40 [[ 9.67199614e-01 2.49120888e-01 4.96355758e-02 1.29503135e+02] [-2.48793656e-01 9.68472397e-01 -1.27645332e-02 -2.39235455e+01] [-5.12505969e-02 -3.16480313e-06 9.98685825e-01 -8.40135992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-23.93, Z:-8.40 [[ 9.66181257e-01 2.52972982e-01 4.99844922e-02 1.29530144e+02] [-2.52646335e-01 9.67473321e-01 -1.28531406e-02 -2.39326560e+01] [-5.16101600e-02 -2.09935165e-04 9.98667286e-01 -8.40304451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:-23.94, Z:-8.41 [[ 9.65717950e-01 2.54742939e-01 4.99487315e-02 1.29558540e+02] [-2.54419235e-01 9.67008760e-01 -1.28417888e-02 -2.39408510e+01] [-5.15722159e-02 -3.06372063e-04 9.98669221e-01 -8.40505529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.59, Y:-23.95, Z:-8.41 [[ 9.65267110e-01 2.56462491e-01 4.98637837e-02 1.29586587e+02] [-2.56142247e-01 9.66554102e-01 -1.28186318e-02 -2.39487049e+01] [-5.14835429e-02 -3.98817927e-04 9.98673763e-01 -8.40751154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:-23.96, Z:-8.41 [[ 9.64649680e-01 2.58808434e-01 4.96909426e-02 1.29614094e+02] [-2.58493562e-01 9.65928528e-01 -1.27733098e-02 -2.39567234e+01] [-5.13037394e-02 -5.23019589e-04 9.98682959e-01 -8.40907571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:129.64, Y:-23.96, Z:-8.41 [[ 9.64344009e-01 2.59977612e-01 4.95204453e-02 1.29642185e+02] [-2.59666570e-01 9.65614467e-01 -1.27268957e-02 -2.39637848e+01] [-5.11263664e-02 -5.85698536e-04 9.98692020e-01 -8.41182270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:-23.97, Z:-8.41 [[ 9.64018815e-01 2.61153342e-01 4.96654541e-02 1.29668565e+02] [-2.60842156e-01 9.65297108e-01 -1.27617804e-02 -2.39708017e+01] [-5.12747008e-02 -6.52247722e-04 9.98684374e-01 -8.41338074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:-23.98, Z:-8.42 [[ 9.63329616e-01 2.63769469e-01 4.92109529e-02 1.29696727e+02] [-2.63467534e-01 9.64585428e-01 -1.26416524e-02 -2.39774327e+01] [-5.08026499e-02 -7.87410281e-04 9.98708401e-01 -8.41500099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.72, Y:-23.98, Z:-8.42 [[ 9.62996812e-01 2.64853487e-01 4.98976039e-02 1.29724124e+02] [-2.64544643e-01 9.64288283e-01 -1.28155648e-02 -2.39832378e+01] [-5.15099218e-02 -8.58795757e-04 9.98672114e-01 -8.41831451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.75, Y:-23.99, Z:-8.42 [[ 9.63018583e-01 2.64774182e-01 4.98983074e-02 1.29752492e+02] [-2.64465374e-01 9.64310063e-01 -1.28128252e-02 -2.39904164e+01] [-5.15099452e-02 -8.57385719e-04 9.98672114e-01 -8.42029788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:-24.00, Z:-8.42 [[ 9.62637700e-01 2.66082745e-01 5.02854946e-02 1.29780490e+02] [-2.65771165e-01 9.63949734e-01 -1.29072566e-02 -2.39973690e+01] [-5.19070874e-02 -9.39422683e-04 9.98651477e-01 -8.42047763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:-24.00, Z:-8.42 [[ 9.62349631e-01 2.67054171e-01 5.06483734e-02 1.29808540e+02] [-2.66739561e-01 9.63680998e-01 -1.29977006e-02 -2.40036402e+01] [-5.22799652e-02 -1.00159249e-03 9.98631965e-01 -8.42253135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-24.01, Z:-8.42 [[ 9.62010498e-01 2.68297644e-01 5.05190689e-02 1.29837124e+02] [-2.67986489e-01 9.63335472e-01 -1.29618638e-02 -2.40083900e+01] [-5.21444486e-02 -1.06897885e-03 9.98638981e-01 -8.42451258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:-24.01, Z:-8.43 [[ 9.61962193e-01 2.68390092e-01 5.09460353e-02 1.29864371e+02] [-2.68073914e-01 9.63309701e-01 -1.30689069e-02 -2.40140150e+01] [-5.25843751e-02 -1.08550871e-03 9.98615895e-01 -8.42682762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:-24.02, Z:-8.43 [[ 9.61981386e-01 2.68472709e-01 5.01419796e-02 1.29893190e+02] [-2.68166726e-01 9.63286690e-01 -1.28592487e-02 -2.40194217e+01] [-5.17534589e-02 -1.07605262e-03 9.98659312e-01 -8.42873672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:129.92, Y:-24.02, Z:-8.43 [[ 9.62016209e-01 2.68422911e-01 4.97388646e-02 1.29921145e+02] [-2.68121895e-01 9.63300577e-01 -1.27533326e-02 -2.40245170e+01] [-5.13367636e-02 -1.06716595e-03 9.98680829e-01 -8.43106736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:129.95, Y:-24.03, Z:-8.43 [[ 9.62077186e-01 2.68155589e-01 5.00006839e-02 1.29948654e+02] [-2.67851164e-01 9.63375033e-01 -1.28179317e-02 -2.40293995e+01] [-5.16066105e-02 -1.06090169e-03 9.98666928e-01 -8.43384570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-24.03, Z:-8.44 [[ 9.62205218e-01 2.67658053e-01 5.02024367e-02 1.29976967e+02] [-2.67350677e-01 9.63513405e-01 -1.28660110e-02 -2.40329898e+01] [-5.18144122e-02 -1.04191252e-03 9.98656188e-01 -8.43535058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:-24.04, Z:-8.44 [[ 9.62357247e-01 2.67039497e-01 5.05809927e-02 1.30004829e+02] [-2.66726743e-01 9.63685047e-01 -1.29605341e-02 -2.40377470e+01] [-5.22051208e-02 -1.01863955e-03 9.98635863e-01 -8.43747365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-24.04, Z:-8.44 [[ 9.62615766e-01 2.66121110e-01 5.05018991e-02 1.30033316e+02] [-2.65808254e-01 9.63939112e-01 -1.29367631e-02 -2.40430700e+01] [-5.21235016e-02 -9.70689457e-04 9.98640175e-01 -8.43960353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.06, Y:-24.05, Z:-8.44 [[ 9.63375286e-01 2.63486484e-01 4.98290281e-02 1.30061852e+02] [-2.63178520e-01 9.64662740e-01 -1.27618553e-02 -2.40473789e+01] [-5.14307832e-02 -8.19473902e-04 9.98676225e-01 -8.44331745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:130.09, Y:-24.05, Z:-8.45 [[ 9.63762308e-01 2.62091766e-01 4.97002975e-02 1.30088922e+02] [-2.61783665e-01 9.65042668e-01 -1.27264523e-02 -2.40526910e+01] [-5.12984061e-02 -7.45450945e-04 9.98683092e-01 -8.44579575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-24.06, Z:-8.45 [[ 9.64033930e-01 2.61186225e-01 4.91969228e-02 1.30117154e+02] [-2.60883332e-01 9.65288182e-01 -1.25941407e-02 -2.40591051e+01] [-5.07786242e-02 -6.93478167e-04 9.98709693e-01 -8.44667663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:-24.06, Z:-8.45 [[ 9.64361204e-01 2.60059967e-01 4.87471268e-02 1.30143321e+02] [-2.59761228e-01 9.65592262e-01 -1.24774893e-02 -2.40639150e+01] [-5.03147440e-02 -6.29806894e-04 9.98733213e-01 -8.44844820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.17, Y:-24.07, Z:-8.45 [[ 9.64818229e-01 2.58348287e-01 4.88052062e-02 1.30171470e+02] [-2.58046955e-01 9.66051688e-01 -1.24862143e-02 -2.40672952e+01] [-5.03741439e-02 -5.47107699e-04 9.98730267e-01 -8.45157185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-24.07, Z:-8.45 [[ 9.64977228e-01 2.57730766e-01 4.89264866e-02 1.30198460e+02] [-2.57427348e-01 9.66216633e-01 -1.25131549e-02 -2.40735575e+01] [-5.04986101e-02 -5.20106097e-04 9.98723996e-01 -8.45297120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-24.08, Z:-8.46 [[ 9.65174020e-01 2.56900967e-01 4.94065281e-02 1.30226014e+02] [-2.56590643e-01 9.66437612e-01 -1.26326383e-02 -2.40769358e+01] [-5.09936641e-02 -4.84558537e-04 9.98698859e-01 -8.45530791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:-24.08, Z:-8.46 [[ 9.65281271e-01 2.56372930e-01 5.00498656e-02 1.30253541e+02] [-2.56053917e-01 9.66577831e-01 -1.27940480e-02 -2.40813333e+01] [-5.16571381e-02 -4.65609181e-04 9.98664770e-01 -8.45719150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:-24.09, Z:-8.46 [[ 9.65427875e-01 2.55753159e-01 5.03918591e-02 1.30280668e+02] [-2.55429146e-01 9.66742017e-01 -1.28772352e-02 -2.40859242e+01] [-5.20093211e-02 -4.39507730e-04 9.98646503e-01 -8.45908140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-24.09, Z:-8.46 [[ 9.65879504e-01 2.53927274e-01 5.09678726e-02 1.30308366e+02] [-2.53593445e-01 9.67223251e-01 -1.30210132e-02 -2.40907057e+01] [-5.26037018e-02 -3.48388638e-04 9.98615406e-01 -8.46117716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:130.34, Y:-24.10, Z:-8.46 [[ 9.66138537e-01 2.52843300e-01 5.14450460e-02 1.30335546e+02] [-2.52501821e-01 9.67507198e-01 -1.31397158e-02 -2.40965693e+01] [-5.30957415e-02 -2.95181949e-04 9.98589383e-01 -8.46407701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:130.36, Y:-24.10, Z:-8.47 [[ 9.66339021e-01 2.52031058e-01 5.16647009e-02 1.30362958e+02] [-2.51685721e-01 9.67719112e-01 -1.31915766e-02 -2.41027686e+01] [-5.33216055e-02 -2.55732247e-04 9.98577359e-01 -8.46583232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-24.11, Z:-8.47 [[ 9.66630778e-01 2.50864847e-01 5.18822387e-02 1.30390490e+02] [-2.50515087e-01 9.68022102e-01 -1.32438979e-02 -2.41088941e+01] [-5.35455822e-02 -1.95324185e-04 9.98565387e-01 -8.46628636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-24.12, Z:-8.47 [[ 9.66716227e-01 2.50465225e-01 5.22198036e-02 1.30416859e+02] [-2.50110505e-01 9.68125580e-01 -1.33265123e-02 -2.41157780e+01] [-5.38931555e-02 -1.77765776e-04 9.98546692e-01 -8.46803027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-24.12, Z:-8.47 [[ 9.66853090e-01 2.49794329e-01 5.28951470e-02 1.30444425e+02] [-2.49429721e-01 9.68298906e-01 -1.34923241e-02 -2.41227570e+01] [-5.45886190e-02 -1.48526561e-04 9.98508919e-01 -8.46968813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.47, Y:-24.13, Z:-8.47 [[ 9.67069141e-01 2.48890012e-01 5.32075122e-02 1.30472600e+02] [-2.48519869e-01 9.68531751e-01 -1.35691739e-02 -2.41288604e+01] [-5.49103968e-02 -1.00794630e-04 9.98491281e-01 -8.47293950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-24.14, Z:-8.47 [[ 9.67144458e-01 2.48654735e-01 5.29378808e-02 1.30499560e+02] [-2.48288130e-01 9.68592182e-01 -1.34977776e-02 -2.41358358e+01] [-5.46315038e-02 -8.95466211e-05 9.98506580e-01 -8.47426907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:-24.14, Z:-8.48 [[ 9.67215855e-01 2.48472599e-01 5.24867350e-02 1.30526213e+02] [-2.48112140e-01 9.68638922e-01 -1.33792892e-02 -2.41428353e+01] [-5.41650812e-02 -8.19354544e-05 9.98531991e-01 -8.47640574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.55, Y:-24.15, Z:-8.48 [[ 9.67273886e-01 2.48437021e-01 5.15778688e-02 1.30553031e+02] [-2.48089056e-01 9.68648047e-01 -1.31446012e-02 -2.41507462e+01] [-5.32264075e-02 -8.14753241e-05 9.98582467e-01 -8.47977448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.58, Y:-24.16, Z:-8.48 [[ 9.67261366e-01 2.48582734e-01 5.11084491e-02 1.30579486e+02] [-2.48241492e-01 9.68610663e-01 -1.30209864e-02 -2.41577459e+01] [-5.27409812e-02 -9.25405913e-05 9.98608222e-01 -8.48236990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:-24.17, Z:-8.48 [[ 9.67192051e-01 2.48852111e-01 5.11093178e-02 1.30606222e+02] [-2.48511392e-01 9.68541488e-01 -1.30182005e-02 -2.41654272e+01] [-5.27411014e-02 -1.10147630e-04 9.98608214e-01 -8.48356612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:130.63, Y:-24.17, Z:-8.49 [[ 9.66829702e-01 2.50219813e-01 5.12871505e-02 1.30633026e+02] [-2.49878860e-01 9.68189036e-01 -1.30593207e-02 -2.41745977e+01] [-5.29233576e-02 -1.89435526e-04 9.98598559e-01 -8.48654404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27264000000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:130.66, Y:-24.18, Z:-8.49 [[ 9.66610641e-01 2.51100426e-01 5.11120899e-02 1.30660189e+02] [-2.50763159e-01 9.67961011e-01 -1.30122583e-02 -2.41821372e+01] [-5.27418938e-02 -2.39241824e-04 9.98608149e-01 -8.48889561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:-24.19, Z:-8.49 [[ 9.66254262e-01 2.52531724e-01 5.07979374e-02 1.30688439e+02] [-2.52200751e-01 9.67588563e-01 -1.29288077e-02 -2.41893078e+01] [-5.24164374e-02 -3.18762403e-04 9.98625263e-01 -8.48918820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.71, Y:-24.20, Z:-8.49 [[ 9.65436380e-01 2.55729586e-01 5.03485291e-02 1.30714576e+02] [-2.55408879e-01 9.66748229e-01 -1.28127119e-02 -2.41953981e+01] [-5.19509409e-02 -4.89603150e-04 9.98649518e-01 -8.49263184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:-24.20, Z:-8.49 [[ 9.64998965e-01 2.57342221e-01 5.05171180e-02 1.30741780e+02] [-2.57021897e-01 9.66320154e-01 -1.28493124e-02 -2.42029896e+01] [-5.21223798e-02 -5.84432351e-04 9.98640534e-01 -8.49347211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.77, Y:-24.21, Z:-8.50 [[ 9.64177878e-01 2.60055871e-01 5.22681960e-02 1.30768293e+02] [-2.59717162e-01 9.65593271e-01 -1.32902393e-02 -2.42104295e+01] [-5.39260231e-02 -7.60792834e-04 9.98544644e-01 -8.49533275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:-24.22, Z:-8.50 [[ 9.63785031e-01 2.61237521e-01 5.36038405e-02 1.30795223e+02] [-2.60883286e-01 9.65274175e-01 -1.36263872e-02 -2.42168082e+01] [-5.53021265e-02 -8.51438034e-04 9.98469303e-01 -8.49604076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:-24.22, Z:-8.50 [[ 9.63410468e-01 2.62446175e-01 5.44267966e-02 1.30821961e+02] [-2.62083114e-01 9.64946177e-01 -1.38317474e-02 -2.42225795e+01] [-5.61490185e-02 -9.38694056e-04 9.98421958e-01 -8.49763143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.85, Y:-24.23, Z:-8.50 [[ 9.62689353e-01 2.64776018e-01 5.58826439e-02 1.30849727e+02] [-2.64397570e-01 9.64309301e-01 -1.41949493e-02 -2.42270134e+01] [-5.76466354e-02 -1.10990869e-03 9.98336433e-01 -8.50055694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.88, Y:-24.23, Z:-8.50 [[ 9.62340280e-01 2.65938061e-01 5.63749357e-02 1.30876269e+02] [-2.65555152e-01 9.63989379e-01 -1.43157013e-02 -2.42321923e+01] [-5.81519291e-02 -1.19407860e-03 9.98307031e-01 -8.50059594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:-24.24, Z:-8.50 [[ 9.62061887e-01 2.66938279e-01 5.63992969e-02 1.30903450e+02] [-2.66557055e-01 9.63712803e-01 -1.43167486e-02 -2.42369692e+01] [-5.81744127e-02 -1.26003229e-03 9.98305640e-01 -8.50300848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-24.24, Z:-8.51 [[ 9.61571810e-01 2.68799379e-01 5.59155351e-02 1.30930686e+02] [-2.68428062e-01 9.63195219e-01 -1.41896102e-02 -2.42417167e+01] [-5.76717346e-02 -1.36496954e-03 9.98334667e-01 -8.50577122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.96, Y:-24.25, Z:-8.51 [[ 9.61486475e-01 2.69264176e-01 5.51412932e-02 1.30957210e+02] [-2.68904074e-01 9.63065370e-01 -1.39890154e-02 -2.42473204e+01] [-5.68714106e-02 -1.37746932e-03 9.98380561e-01 -8.50905334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-24.25, Z:-8.51 [[ 9.61489948e-01 2.69366124e-01 5.45799584e-02 1.30984657e+02] [-2.69013771e-01 9.63036865e-01 -1.38415600e-02 -2.42533042e+01] [-5.62909594e-02 -1.37423955e-03 9.98413461e-01 -8.50980378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-24.26, Z:-8.51 [[ 9.61628157e-01 2.69051165e-01 5.36913311e-02 1.31012723e+02] [-2.68709933e-01 9.63124956e-01 -1.36121341e-02 -2.42581608e+01] [-5.53738215e-02 -1.33758252e-03 9.98464797e-01 -8.51201696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:131.04, Y:-24.26, Z:-8.52 [[ 9.62242555e-01 2.67068125e-01 5.25726344e-02 1.31039950e+02] [-2.66738202e-01 9.63676903e-01 -1.33250897e-02 -2.42607554e+01] [-5.42217403e-02 -1.20116165e-03 9.98528197e-01 -8.51707027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:-24.27, Z:-8.52 [[ 9.62713745e-01 2.65379502e-01 5.24972771e-02 1.31067373e+02] [-2.65048404e-01 9.64143394e-01 -1.32988357e-02 -2.42661551e+01] [-5.41441413e-02 -1.11134757e-03 9.98532512e-01 -8.51738385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-24.27, Z:-8.52 [[ 9.63228022e-01 2.63509240e-01 5.24848304e-02 1.31094025e+02] [-2.63175738e-01 9.64656343e-01 -1.32917188e-02 -2.42719514e+01] [-5.41323153e-02 -1.00977803e-03 9.98533261e-01 -8.51940904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-24.28, Z:-8.52 [[ 9.64156054e-01 2.59751415e-01 5.41507730e-02 1.31121498e+02] [-2.59390761e-01 9.65675160e-01 -1.37083341e-02 -2.42766934e+01] [-5.58528156e-02 -8.29236947e-04 9.98438669e-01 -8.52091210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:-24.28, Z:-8.52 [[ 9.64510623e-01 2.58337660e-01 5.45977226e-02 1.31147816e+02] [-2.57968998e-01 9.66054388e-01 -1.38172555e-02 -2.42820795e+01] [-5.63138869e-02 -7.57630055e-04 9.98412827e-01 -8.52304639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-24.29, Z:-8.52 [[ 9.64979880e-01 2.56819137e-01 5.34580467e-02 1.31175825e+02] [-2.56463660e-01 9.66459257e-01 -1.35239019e-02 -2.42850064e+01] [-5.51382209e-02 -6.59753046e-04 9.98478513e-01 -8.52484334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:-24.29, Z:-8.53 [[ 9.65038524e-01 2.56635347e-01 5.32817670e-02 1.31204105e+02] [-2.56282159e-01 9.66508083e-01 -1.34751750e-02 -2.42890061e+01] [-5.49554647e-02 -6.51103266e-04 9.98488594e-01 -8.52720773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-24.29, Z:-8.53 [[ 9.65041392e-01 2.56614090e-01 5.33321697e-02 1.31231926e+02] [-2.56260428e-01 9.66513725e-01 -1.34838067e-02 -2.42931150e+01] [-5.50064088e-02 -6.54493042e-04 9.98485787e-01 -8.52932299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:131.26, Y:-24.30, Z:-8.53 [[ 9.65096299e-01 2.56524253e-01 5.27678063e-02 1.31258220e+02] [-2.56178124e-01 9.66537578e-01 -1.33371269e-02 -2.42980675e+01] [-5.44233642e-02 -6.46345864e-04 9.98517741e-01 -8.53384097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:-24.30, Z:-8.53 [[ 9.65134684e-01 2.56444405e-01 5.24529127e-02 1.31285864e+02] [-2.56102550e-01 9.66558769e-01 -1.32525358e-02 -2.43049496e+01] [-5.40973614e-02 -6.42842796e-04 9.98535459e-01 -8.53389177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:-24.31, Z:-8.54 [[ 9.65204969e-01 2.56088618e-01 5.28960166e-02 1.31312424e+02] [-2.55740645e-01 9.66653102e-01 -1.33604629e-02 -2.43096690e+01] [-5.45535610e-02 -6.32076295e-04 9.98510646e-01 -8.53535873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:-24.31, Z:-8.54 [[ 9.65387665e-01 2.55125720e-01 5.41989313e-02 1.31340675e+02] [-2.54759156e-01 9.66907705e-01 -1.36843615e-02 -2.43119459e+01] [-5.58965969e-02 -5.96960203e-04 9.98436385e-01 -8.53647173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:-24.32, Z:-8.54 [[ 9.65564628e-01 2.54498525e-01 5.39949152e-02 1.31367746e+02] [-2.54133967e-01 9.67072998e-01 -1.36287469e-02 -2.43167260e+01] [-5.56855206e-02 -5.62506030e-04 9.98448199e-01 -8.53824429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:-24.32, Z:-8.54 [[ 9.65708075e-01 2.54057850e-01 5.35025568e-02 1.31393898e+02] [-2.53699476e-01 9.67188876e-01 -1.35001816e-02 -2.43214406e+01] [-5.51769049e-02 -5.36336226e-04 9.98476450e-01 -8.54003697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:131.42, Y:-24.33, Z:-8.55 [[ 9.65769174e-01 2.53569741e-01 5.47018227e-02 1.31421356e+02] [-2.53194799e-01 9.67316963e-01 -1.37944304e-02 -2.43260031e+01] [-5.64118512e-02 -5.27981326e-04 9.98407444e-01 -8.54504478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-24.33, Z:-8.54 [[ 9.65655591e-01 2.53928901e-01 5.50399150e-02 1.31448511e+02] [-2.53550132e-01 9.67222727e-01 -1.38754199e-02 -2.43329573e+01] [-5.67592268e-02 -5.56500830e-04 9.98387741e-01 -8.54428882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-24.34, Z:-8.55 [[ 9.65346006e-01 2.55024328e-01 5.54047036e-02 1.31475701e+02] [-2.54642570e-01 9.66934432e-01 -1.39629932e-02 -2.43386517e+01] [-5.71336186e-02 -6.29276395e-04 9.98366342e-01 -8.54622024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:-24.35, Z:-8.55 [[ 9.65361650e-01 2.54964872e-01 5.54057668e-02 1.31503298e+02] [-2.54583259e-01 9.66950111e-01 -1.39587731e-02 -2.43454749e+01] [-5.71336091e-02 -6.30116472e-04 9.98366342e-01 -8.54814739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:-24.35, Z:-8.55 [[ 9.65129549e-01 2.55925231e-01 5.50202748e-02 1.31529956e+02] [-2.55550659e-01 9.66696336e-01 -1.38583596e-02 -2.43510468e+01] [-5.67346019e-02 -6.85355154e-04 9.98389060e-01 -8.55036939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:131.56, Y:-24.36, Z:-8.55 [[ 9.64982523e-01 2.56480722e-01 5.50124459e-02 1.31557754e+02] [-2.56107452e-01 9.66549076e-01 -1.38512222e-02 -2.43556335e+01] [-5.67248002e-02 -7.22909952e-04 9.98389591e-01 -8.55479179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:-24.36, Z:-8.55 [[ 9.64775076e-01 2.57303470e-01 5.48085474e-02 1.31585156e+02] [-2.56934521e-01 9.66330341e-01 -1.37957972e-02 -2.43606373e+01] [-5.65128687e-02 -7.72366594e-04 9.98401572e-01 -8.55465515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:-24.36, Z:-8.56 [[ 9.64679083e-01 2.57692366e-01 5.46709331e-02 1.31612191e+02] [-2.57326131e-01 9.66226686e-01 -1.37569446e-02 -2.43637168e+01] [-5.63695741e-02 -7.97222961e-04 9.98409653e-01 -8.55710182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.64, Y:-24.37, Z:-8.56 [[ 9.64881098e-01 2.56883831e-01 5.49105092e-02 1.31639303e+02] [-2.56513366e-01 9.66441991e-01 -1.38119827e-02 -2.43702944e+01] [-5.66158969e-02 -7.58358533e-04 9.98395746e-01 -8.56159163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:-24.38, Z:-8.56 [[ 9.65022801e-01 2.56411954e-01 5.46251162e-02 1.31665429e+02] [-2.56044820e-01 9.66567316e-01 -1.37358884e-02 -2.43781010e+01] [-5.63208979e-02 -7.31032528e-04 9.98412451e-01 -8.56149143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.69, Y:-24.38, Z:-8.57 [[ 9.65718499e-01 2.53792901e-01 5.45613734e-02 1.31692568e+02] [-2.53422746e-01 9.67258406e-01 -1.37145109e-02 -2.43839022e+01] [-5.62555926e-02 -5.82736175e-04 9.98416230e-01 -8.56551220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:-24.39, Z:-8.56 [[ 9.65948298e-01 2.52995706e-01 5.41946343e-02 1.31719004e+02] [-2.52629489e-01 9.67467253e-01 -1.36182427e-02 -2.43902325e+01] [-5.58768909e-02 -5.36644367e-04 9.98437522e-01 -8.56419966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:131.75, Y:-24.40, Z:-8.57 [[ 9.66172356e-01 2.52050910e-01 5.46014443e-02 1.31746599e+02] [-2.51677954e-01 9.67713851e-01 -1.37153027e-02 -2.43951514e+01] [-5.62955285e-02 -4.90633492e-04 9.98414029e-01 -8.56867992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:-24.40, Z:-8.57 [[ 9.66079011e-01 2.52673884e-01 5.33596591e-02 1.31774245e+02] [-2.52318883e-01 9.67551363e-01 -1.33993335e-02 -2.44019182e+01] [-5.50138725e-02 -5.18834668e-04 9.98485455e-01 -8.56779002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53264000000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.80, Y:-24.41, Z:-8.57 [[ 9.65971144e-01 2.53052761e-01 5.35168161e-02 1.31801641e+02] [-2.52696478e-01 9.67452325e-01 -1.34345711e-02 -2.44077010e+01] [-5.51746235e-02 -5.46102988e-04 9.98476571e-01 -8.57159339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:-24.41, Z:-8.57 [[ 9.65670294e-01 2.54226770e-01 5.33819500e-02 1.31829354e+02] [-2.53874304e-01 9.67144441e-01 -1.33965491e-02 -2.44145009e+01] [-5.50338176e-02 -6.15655933e-04 9.98484301e-01 -8.57165060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-24.42, Z:-8.57 [[ 9.64978197e-01 2.56630656e-01 5.43855351e-02 1.31856030e+02] [-2.56268854e-01 9.66509241e-01 -1.36441304e-02 -2.44179286e+01] [-5.60656244e-02 -7.71030396e-04 9.98426788e-01 -8.57319651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-24.42, Z:-8.58 [[ 9.64624441e-01 2.57884879e-01 5.47272920e-02 1.31884052e+02] [-2.57520826e-01 9.66175274e-01 -1.37245951e-02 -2.44222061e+01] [-5.64155219e-02 -8.54337608e-04 9.98407011e-01 -8.57500649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.91, Y:-24.42, Z:-8.58 [[ 9.64317711e-01 2.58835125e-01 5.56392926e-02 1.31912250e+02] [-2.58460661e-01 9.65921070e-01 -1.39489244e-02 -2.44249237e+01] [-5.73536367e-02 -9.29373539e-04 9.98353493e-01 -8.58008425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:-24.43, Z:-8.58 [[ 9.64218886e-01 2.59300708e-01 5.51822655e-02 1.31938714e+02] [-2.58933370e-01 9.65796166e-01 -1.38302445e-02 -2.44313144e+01] [-5.68810126e-02 -9.53147055e-04 9.98380510e-01 -8.57990255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:-24.44, Z:-8.58 [[ 9.64379935e-01 2.58787970e-01 5.47734289e-02 1.31966415e+02] [-2.58425516e-01 9.65933713e-01 -1.37227552e-02 -2.44369355e+01] [-5.64587855e-02 -9.20901855e-04 9.98404506e-01 -8.58160822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-24.44, Z:-8.58 [[ 9.64887536e-01 2.56952610e-01 5.44738354e-02 1.31993203e+02] [-2.56591417e-01 9.66423663e-01 -1.36436547e-02 -2.44403693e+01] [-5.61505763e-02 -8.12926218e-04 9.98421981e-01 -8.58361916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:-24.45, Z:-8.59 [[ 9.65179402e-01 2.55891048e-01 5.43000276e-02 1.32020291e+02] [-2.55530759e-01 9.66705334e-01 -1.35951272e-02 -2.44466471e+01] [-5.59709977e-02 -7.53590525e-04 9.98432111e-01 -8.58567984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:-24.45, Z:-8.59 [[ 9.65778457e-01 2.53728484e-01 5.37943101e-02 1.32048153e+02] [-2.53371746e-01 9.67275278e-01 -1.34645524e-02 -2.44522558e+01] [-5.54502468e-02 -6.26183673e-04 9.98461255e-01 -8.58783923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-24.46, Z:-8.59 [[ 9.66063152e-01 2.52612618e-01 5.39337750e-02 1.32074574e+02] [-2.52252518e-01 9.67567333e-01 -1.34953253e-02 -2.44572537e+01] [-5.55936483e-02 -5.67594026e-04 9.98453316e-01 -8.58923860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.10, Y:-24.46, Z:-8.59 [[ 9.66448745e-01 2.51014236e-01 5.44855606e-02 1.32101955e+02] [-2.50644479e-01 9.67983273e-01 -1.36281893e-02 -2.44618941e+01] [-5.61619809e-02 -4.85558457e-04 9.98421552e-01 -8.59399133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:-24.47, Z:-8.59 [[ 9.66672889e-01 2.50348146e-01 5.35661323e-02 1.32129254e+02] [-2.49989966e-01 9.68155777e-01 -1.33942997e-02 -2.44683918e+01] [-5.52135985e-02 -4.43089176e-04 9.98474467e-01 -8.59285143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:-24.47, Z:-8.59 [[ 9.66824613e-01 2.49765866e-01 5.35460468e-02 1.32155595e+02] [-2.49407284e-01 9.68306171e-01 -1.33852802e-02 -2.44742457e+01] [-5.51921536e-02 -4.13555748e-04 9.98475666e-01 -8.59476545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:-24.48, Z:-8.60 [[ 9.66928548e-01 2.49627642e-01 5.22993742e-02 1.32181998e+02] [-2.49285620e-01 9.68341820e-01 -1.30690296e-02 -2.44782922e+01] [-5.39060622e-02 -4.00664151e-04 9.98545931e-01 -8.59650287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:-24.48, Z:-8.60 [[ 9.66830212e-01 2.50015266e-01 5.22657484e-02 1.32209607e+02] [-2.49674504e-01 9.68241801e-01 -1.30559395e-02 -2.44840883e+01] [-5.38700665e-02 -4.26548093e-04 9.98547863e-01 -8.59830428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:-24.49, Z:-8.60 [[ 9.66383218e-01 2.51664089e-01 5.26180741e-02 1.32237236e+02] [-2.51321366e-01 9.67814502e-01 -1.31400641e-02 -2.44889986e+01] [-5.42314174e-02 -5.25708842e-04 9.98528255e-01 -8.60007888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-24.49, Z:-8.60 [[ 9.66012293e-01 2.53097852e-01 5.25521359e-02 1.32263339e+02] [-2.52758277e-01 9.67440493e-01 -1.31204438e-02 -2.44940117e+01] [-5.41618204e-02 -6.08477364e-04 9.98531986e-01 -8.60177065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-24.50, Z:-8.60 [[ 9.65681168e-01 2.54428419e-01 5.22116866e-02 1.32291021e+02] [-2.54095602e-01 9.67091365e-01 -1.30275362e-02 -2.44988711e+01] [-5.38080467e-02 -6.86313543e-04 9.98551062e-01 -8.60353676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.32, Y:-24.50, Z:-8.61 [[ 9.65022747e-01 2.56667910e-01 5.34104965e-02 1.32318116e+02] [-2.56323245e-01 9.66499296e-01 -1.33230949e-02 -2.45019542e+01] [-5.50408182e-02 -8.33262165e-04 9.98483758e-01 -8.60831315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:-24.51, Z:-8.61 [[ 9.64768490e-01 2.57612711e-01 5.34551445e-02 1.32344555e+02] [-2.57269379e-01 9.66247840e-01 -1.33258456e-02 -2.45078369e+01] [-5.50838252e-02 -8.96015882e-04 9.98481332e-01 -8.60794742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.37, Y:-24.51, Z:-8.61 [[ 9.64682510e-01 2.57901264e-01 5.36152266e-02 1.32372590e+02] [-2.57556505e-01 9.66170841e-01 -1.33623513e-02 -2.45106359e+01] [-5.52476358e-02 -9.18523799e-04 9.98472261e-01 -8.61200939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:-24.52, Z:-8.61 [[ 9.64706759e-01 2.57851991e-01 5.34155443e-02 1.32399650e+02] [-2.57510334e-01 9.66183988e-01 -1.33014811e-02 -2.45164556e+01] [-5.50390570e-02 -9.23025943e-04 9.98483776e-01 -8.61182267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:132.43, Y:-24.52, Z:-8.62 [[ 9.64867430e-01 2.57166605e-01 5.38161617e-02 1.32426270e+02] [-2.56819410e-01 9.66366661e-01 -1.33890812e-02 -2.45214003e+01] [-5.54493690e-02 -9.02346580e-04 9.98461093e-01 -8.61668261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:-24.53, Z:-8.62 [[ 9.64967337e-01 2.56950964e-01 5.30494087e-02 1.32453855e+02] [-2.56613723e-01 9.66424037e-01 -1.31901053e-02 -2.45274321e+01] [-5.46574340e-02 -8.85185446e-04 9.98504773e-01 -8.61570208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:-24.53, Z:-8.62 [[ 9.65303279e-01 2.55640508e-01 5.32682892e-02 1.32481199e+02] [-2.55298704e-01 9.66771566e-01 -1.32404808e-02 -2.45288897e+01] [-5.48830706e-02 -8.18245734e-04 9.98492453e-01 -8.61754719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:-24.53, Z:-8.62 [[ 9.65552662e-01 2.54769525e-01 5.29201926e-02 1.32507479e+02] [-2.54431133e-01 9.67001499e-01 -1.31491398e-02 -2.45338736e+01] [-5.45239057e-02 -7.68357615e-04 9.98512170e-01 -8.61935020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:-24.54, Z:-8.62 [[ 9.65836799e-01 2.53827823e-01 5.22562358e-02 1.32534478e+02] [-2.53496661e-01 9.67249158e-01 -1.29811267e-02 -2.45403012e+01] [-5.38397711e-02 -7.09131441e-04 9.98549336e-01 -8.62155927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:-24.55, Z:-8.62 [[ 9.66295282e-01 2.52210756e-01 5.16058349e-02 1.32562070e+02] [-2.51886122e-01 9.67672128e-01 -1.28076284e-02 -2.45466068e+01] [-5.31677497e-02 -6.22842684e-04 9.98585401e-01 -8.62405241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:132.59, Y:-24.55, Z:-8.63 [[ 9.66584840e-01 2.50986365e-01 5.21496991e-02 1.32588381e+02] [-2.50653283e-01 9.67990457e-01 -1.29385826e-02 -2.45511939e+01] [-5.37278189e-02 -5.65255445e-04 9.98555458e-01 -8.62937156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-24.55, Z:-8.63 [[ 9.67133594e-01 2.48959057e-01 5.16913748e-02 1.32615218e+02] [-2.48629164e-01 9.68513904e-01 -1.28201488e-02 -2.45545218e+01] [-5.32555074e-02 -4.53186772e-04 9.98580816e-01 -8.62793470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:-24.56, Z:-8.63 [[ 9.67571062e-01 2.47258270e-01 5.16680628e-02 1.32642231e+02] [-2.46926414e-01 9.68949543e-01 -1.28112963e-02 -2.45594767e+01] [-5.32314448e-02 -3.62369947e-04 9.98582136e-01 -8.62984600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.67, Y:-24.56, Z:-8.63 [[ 9.67985355e-01 2.45480959e-01 5.23779684e-02 1.32670056e+02] [-2.45137996e-01 9.69401372e-01 -1.29747027e-02 -2.45646004e+01] [-5.39603169e-02 -2.80508014e-04 9.98543041e-01 -8.63396928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:-24.57, Z:-8.63 [[ 9.68386885e-01 2.43887540e-01 5.23995144e-02 1.32698063e+02] [-2.43542181e-01 9.69803500e-01 -1.29760068e-02 -2.45702966e+01] [-5.39819189e-02 -1.95697222e-04 9.98541894e-01 -8.63345849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.72, Y:-24.58, Z:-8.64 [[ 9.69290748e-01 2.40130520e-01 5.30356332e-02 1.32724024e+02] [-2.39771315e-01 9.70740611e-01 -1.31294901e-02 -2.45752647e+01] [-5.46366342e-02 9.86976526e-06 9.98506303e-01 -8.63744750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.75, Y:-24.58, Z:-8.64 [[ 9.69776940e-01 2.38249727e-01 5.26284571e-02 1.32751031e+02] [-2.37893518e-01 9.71203921e-01 -1.30237807e-02 -2.45831545e+01] [-5.42158761e-02 1.10193398e-04 9.98529232e-01 -8.63807376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:-24.59, Z:-8.64 [[ 9.70161977e-01 2.36498119e-01 5.34263792e-02 1.32777484e+02] [-2.36128594e-01 9.71631924e-01 -1.32170565e-02 -2.45910805e+01] [-5.50365847e-02 2.07189846e-04 9.98484317e-01 -8.63904707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:-24.60, Z:-8.64 [[ 9.70802690e-01 2.33774588e-01 5.37733978e-02 1.32803285e+02] [-2.33396290e-01 9.72290755e-01 -1.32988572e-02 -2.45985602e+01] [-5.53923125e-02 3.60054830e-04 9.98464602e-01 -8.64050011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:132.83, Y:-24.60, Z:-8.64 [[ 9.70934179e-01 2.33127451e-01 5.42071156e-02 1.32829551e+02] [-2.32742289e-01 9.72446109e-01 -1.34011884e-02 -2.46047585e+01] [-5.58376835e-02 3.95383771e-04 9.98439781e-01 -8.64480884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:-24.61, Z:-8.64 [[ 9.70908775e-01 2.33231658e-01 5.42138825e-02 1.32856534e+02] [-2.32846835e-01 9.72421126e-01 -1.33979771e-02 -2.46112876e+01] [-5.58435570e-02 3.84682568e-04 9.98439457e-01 -8.64395463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:132.88, Y:-24.62, Z:-8.65 [[ 9.70807342e-01 2.33546060e-01 5.46748883e-02 1.32882529e+02] [-2.33155393e-01 9.72345671e-01 -1.35077268e-02 -2.46173168e+01] [-5.63175674e-02 3.65655292e-04 9.98412839e-01 -8.64900507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:-24.62, Z:-8.65 [[ 9.70783123e-01 2.33878830e-01 5.36732841e-02 1.32909997e+02] [-2.33503140e-01 9.72265694e-01 -1.32552973e-02 -2.46245811e+01] [-5.52848263e-02 3.35138562e-04 9.98470568e-01 -8.64850419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79264000000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:132.94, Y:-24.63, Z:-8.65 [[ 9.70757191e-01 2.34226911e-01 5.26139838e-02 1.32937171e+02] [-2.33866636e-01 9.72181907e-01 -1.29898230e-02 -2.46308538e+01] [-5.41929293e-02 3.05308695e-04 9.98530437e-01 -8.65372963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-24.64, Z:-8.65 [[ 9.70728094e-01 2.34335935e-01 5.26653394e-02 1.32964100e+02] [-2.33975330e-01 9.72155637e-01 -1.29985730e-02 -2.46385018e+01] [-5.42449393e-02 2.95689806e-04 9.98527616e-01 -8.65295410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.99, Y:-24.64, Z:-8.66 [[ 9.70747883e-01 2.34116909e-01 5.32712002e-02 1.32990186e+02] [-2.33747844e-01 9.72208403e-01 -1.31440900e-02 -2.46449955e+01] [-5.48679622e-02 3.07569364e-04 9.98493571e-01 -8.65772321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.02, Y:-24.65, Z:-8.66 [[ 9.71008429e-01 2.33009552e-01 5.33777080e-02 1.33016999e+02] [-2.32637608e-01 9.72474377e-01 -1.31654359e-02 -2.46532641e+01] [-5.49761257e-02 3.66086954e-04 9.98487602e-01 -8.65910432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:133.04, Y:-24.66, Z:-8.66 [[ 9.71280718e-01 2.31956297e-01 5.30098468e-02 1.33044030e+02] [-2.31588110e-01 9.72726118e-01 -1.30708428e-02 -2.46604953e+01] [-5.45959267e-02 4.19007343e-04 9.98508442e-01 -8.66122287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:-24.67, Z:-8.66 [[ 9.71523194e-01 2.30986733e-01 5.27997490e-02 1.33071384e+02] [-2.30620254e-01 9.72956788e-01 -1.30149124e-02 -2.46684755e+01] [-5.43781462e-02 4.67597780e-04 9.98520305e-01 -8.66098956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:-24.68, Z:-8.66 [[ 9.71815646e-01 2.29601678e-01 5.34548323e-02 1.33097292e+02] [-2.29224172e-01 9.73284526e-01 -1.31722978e-02 -2.46779578e+01] [-5.50511428e-02 5.47905374e-04 9.98483386e-01 -8.66241911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:-24.69, Z:-8.66 [[ 9.71944988e-01 2.28842536e-01 5.43510276e-02 1.33123272e+02] [-2.28451322e-01 9.73463270e-01 -1.33886401e-02 -2.46862118e+01] [-5.59726194e-02 5.96457506e-04 9.98432126e-01 -8.66438302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-24.70, Z:-8.67 [[ 9.72157761e-01 2.27869639e-01 5.46325586e-02 1.33149200e+02] [-2.27473257e-01 9.73691433e-01 -1.34502834e-02 -2.46956349e+01] [-5.62601655e-02 6.48351388e-04 9.98415932e-01 -8.66581281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:133.18, Y:-24.70, Z:-8.67 [[ 9.72226430e-01 2.27515924e-01 5.48841782e-02 1.33175645e+02] [-2.27115770e-01 9.73774134e-01 -1.35042059e-02 -2.47038052e+01] [-5.65172150e-02 6.64083550e-04 9.98401404e-01 -8.67086432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:133.20, Y:-24.71, Z:-8.67 [[ 9.72253661e-01 2.27399324e-01 5.48850261e-02 1.33203271e+02] [-2.26999179e-01 9.73801367e-01 -1.35007589e-02 -2.47104494e+01] [-5.65171769e-02 6.67306447e-04 9.98401404e-01 -8.67279076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:-24.72, Z:-8.67 [[ 9.72412393e-01 2.26916596e-01 5.40647441e-02 1.33229219e+02] [-2.26527957e-01 9.73913958e-01 -1.32923346e-02 -2.47197665e+01] [-5.56706603e-02 6.78454794e-04 9.98448956e-01 -8.67211052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:-24.73, Z:-8.67 [[ 9.72471151e-01 2.26593925e-01 5.43604047e-02 1.33255086e+02] [-2.26200966e-01 9.73989072e-01 -1.33570356e-02 -2.47289432e+01] [-5.59730633e-02 6.92955733e-04 9.98432039e-01 -8.67411482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:-24.74, Z:-8.68 [[ 9.72336731e-01 2.27073069e-01 5.47640595e-02 1.33281349e+02] [-2.26675288e-01 9.73877497e-01 -1.34512214e-02 -2.47404796e+01] [-5.63878953e-02 6.65457713e-04 9.98408715e-01 -8.67607133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.31, Y:-24.75, Z:-8.68 [[ 9.72155188e-01 2.27888295e-01 5.46005018e-02 1.33307748e+02] [-2.27494406e-01 9.73687091e-01 -1.34068914e-02 -2.47491998e+01] [-5.62190774e-02 6.12270254e-04 9.98418269e-01 -8.67870074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:-24.76, Z:-8.68 [[ 9.71971544e-01 2.28695054e-01 5.44966911e-02 1.33333932e+02] [-2.28304155e-01 9.73497950e-01 -1.33774025e-02 -2.47573555e+01] [-5.61117629e-02 5.60633549e-04 9.98424337e-01 -8.67883070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:-24.77, Z:-8.68 [[ 9.71365277e-01 2.31447149e-01 5.36816259e-02 1.33360823e+02] [-2.31072329e-01 9.72847400e-01 -1.31724856e-02 -2.47665590e+01] [-5.52727644e-02 3.90956826e-04 9.98471216e-01 -8.68054206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:-24.77, Z:-8.68 [[ 9.71117988e-01 2.32525027e-01 5.34973391e-02 1.33387851e+02] [-2.32154629e-01 9.72590359e-01 -1.31233457e-02 -2.47744413e+01] [-5.50825025e-02 3.24662242e-04 9.98481754e-01 -8.68294684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-24.79, Z:-8.69 [[ 9.70576242e-01 2.34540837e-01 5.45192931e-02 1.33412453e+02] [-2.34159554e-01 9.72106245e-01 -1.33698059e-02 -2.47851434e+01] [-5.61343108e-02 2.10202622e-04 9.98423204e-01 -8.68520403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:-24.79, Z:-8.69 [[ 9.70392032e-01 2.35226143e-01 5.48449272e-02 1.33439092e+02] [-2.34841675e-01 9.71940653e-01 -1.34444665e-02 -2.47938259e+01] [-5.64685044e-02 1.66528591e-04 9.98404367e-01 -8.68724161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:-24.80, Z:-8.69 [[ 9.70263153e-01 2.35794685e-01 5.46834595e-02 1.33465670e+02] [-2.35413621e-01 9.71802886e-01 -1.34006310e-02 -2.48027248e+01] [-5.63013413e-02 1.28907305e-04 9.98413813e-01 -8.68919894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.49, Y:-24.81, Z:-8.69 [[ 9.70055278e-01 2.36724755e-01 5.43520833e-02 1.33490320e+02] [-2.36349984e-01 9.71576752e-01 -1.33153846e-02 -2.48142639e+01] [-5.59593017e-02 7.05450805e-05 9.98433048e-01 -8.69420412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45264000000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:133.52, Y:-24.82, Z:-8.70 [[ 9.69961993e-01 2.37069948e-01 5.45121237e-02 1.33516394e+02] [-2.36693787e-01 9.71492583e-01 -1.33496609e-02 -2.48221313e+01] [-5.61229272e-02 4.59827389e-05 9.98423865e-01 -8.69633181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:-24.83, Z:-8.70 [[ 9.69838861e-01 2.37671728e-01 5.40808067e-02 1.33543774e+02] [-2.37302714e-01 9.71345536e-01 -1.32390537e-02 -2.48294004e+01] [-5.56776989e-02 6.22659540e-06 9.98448794e-01 -8.69513782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.57, Y:-24.84, Z:-8.70 [[ 9.69194202e-01 2.40326079e-01 5.39070874e-02 1.33570881e+02] [-2.39963757e-01 9.70692203e-01 -1.31925073e-02 -2.48367249e+01] [-5.54976930e-02 -1.49645642e-04 9.98458804e-01 -8.69937123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.60, Y:-24.84, Z:-8.70 [[ 9.68811662e-01 2.41774718e-01 5.43042308e-02 1.33597910e+02] [-2.41409535e-01 9.70332381e-01 -1.32856194e-02 -2.48443871e+01] [-5.59052805e-02 -2.38296047e-04 9.98436048e-01 -8.70200702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-24.85, Z:-8.70 [[ 9.68205811e-01 2.44381358e-01 5.34346304e-02 1.33623640e+02] [-2.44031965e-01 9.69679124e-01 -1.30689542e-02 -2.48522734e+01] [-5.50082543e-02 -3.86320426e-04 9.98485825e-01 -8.70161835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:-24.86, Z:-8.70 [[ 9.67986974e-01 2.45343864e-01 5.29868563e-02 1.33649351e+02] [-2.45002007e-01 9.69436018e-01 -1.29546721e-02 -2.48585881e+01] [-5.45457163e-02 -4.41932239e-04 9.98511176e-01 -8.70402421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:-24.87, Z:-8.71 [[ 9.67764166e-01 2.46273464e-01 5.27437115e-02 1.33676494e+02] [-2.45936377e-01 9.69200255e-01 -1.28904755e-02 -2.48656484e+01] [-5.42938007e-02 -4.96657029e-04 9.98524880e-01 -8.70586488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264000000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:133.70, Y:-24.87, Z:-8.71 [[ 9.67529666e-01 2.46950835e-01 5.38667862e-02 1.33703639e+02] [-2.46600510e-01 9.69027854e-01 -1.31607822e-02 -2.48729643e+01] [-5.54484824e-02 -5.50129803e-04 9.98461398e-01 -8.71137626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:-24.88, Z:-8.71 [[ 9.67339926e-01 2.47526474e-01 5.46270208e-02 1.33730837e+02] [-2.47167336e-01 9.68880947e-01 -1.33423355e-02 -2.48795213e+01] [-5.62296609e-02 -5.95441421e-04 9.98417683e-01 -8.70937763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:-24.89, Z:-8.71 [[ 9.67369834e-01 2.47246137e-01 5.53620121e-02 1.33756883e+02] [-2.46877012e-01 9.68952527e-01 -1.35182107e-02 -2.48855289e+01] [-5.69854869e-02 -5.90498883e-04 9.98374832e-01 -8.71113621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-24.89, Z:-8.71 [[ 9.67465090e-01 2.46712413e-01 5.60739193e-02 1.33784340e+02] [-2.46333302e-01 9.69088569e-01 -1.36838914e-02 -2.48920670e+01] [-5.77165801e-02 -5.74186492e-04 9.98332844e-01 -8.71331646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-24.90, Z:-8.72 [[ 9.67784847e-01 2.45515143e-01 5.58104394e-02 1.33811345e+02] [-2.45137842e-01 9.69392624e-01 -1.36153716e-02 -2.49003741e+01] [-5.74450082e-02 -5.04500378e-04 9.98348545e-01 -8.71609928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:-24.91, Z:-8.72 [[ 9.67852889e-01 2.45385907e-01 5.51954928e-02 1.33837765e+02] [-2.45016905e-01 9.69425351e-01 -1.34612385e-02 -2.49068444e+01] [-5.68111082e-02 -4.95330268e-04 9.98384822e-01 -8.71864899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:-24.91, Z:-8.72 [[ 9.67884730e-01 2.45492101e-01 5.41551242e-02 1.33865067e+02] [-2.45137332e-01 9.69398464e-01 -1.32025455e-02 -2.49127517e+01] [-5.57390148e-02 -4.96900497e-04 9.98445249e-01 -8.72101297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:-24.92, Z:-8.72 [[ 9.67952684e-01 2.45598362e-01 5.24313418e-02 1.33892209e+02] [-2.45266191e-01 9.69371551e-01 -1.27785581e-02 -2.49178399e+01] [-5.39638440e-02 -4.90595903e-04 9.98542770e-01 -8.72412942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.92, Y:-24.92, Z:-8.73 [[ 9.67905920e-01 2.45881915e-01 5.19635843e-02 1.33919015e+02] [-2.45556271e-01 9.69299659e-01 -1.26605554e-02 -2.49248377e+01] [-5.34812861e-02 -5.05757471e-04 9.98568724e-01 -8.72851722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:133.95, Y:-24.93, Z:-8.73 [[ 9.68144382e-01 2.44994894e-01 5.17103261e-02 1.33945064e+02] [-2.44671358e-01 9.69524261e-01 -1.25950099e-02 -2.49334123e+01] [-5.32201288e-02 -4.58247624e-04 9.98582700e-01 -8.73165703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-24.94, Z:-8.73 [[ 9.68473349e-01 2.43734536e-01 5.15058143e-02 1.33972087e+02] [-2.43412031e-01 9.69841906e-01 -1.25403613e-02 -2.49407106e+01] [-5.30090163e-02 -3.92129206e-04 9.98593957e-01 -8.73030838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-24.95, Z:-8.73 [[ 9.68676567e-01 2.42784366e-01 5.21676192e-02 1.33998839e+02] [-2.42452356e-01 9.70080219e-01 -1.26974300e-02 -2.49472538e+01] [-5.36895129e-02 -3.48459269e-04 9.98557617e-01 -8.73158701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:-24.95, Z:-8.73 [[ 9.69083568e-01 2.40867973e-01 5.34757725e-02 1.34025076e+02] [-2.40516406e-01 9.70557858e-01 -1.30116333e-02 -2.49519424e+01] [-5.50354170e-02 -2.52440555e-04 9.98484371e-01 -8.73273110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:-24.96, Z:-8.73 [[ 9.69243003e-01 2.40118247e-01 5.39558060e-02 1.34052381e+02] [-2.39759460e-01 9.70743623e-01 -1.31232870e-02 -2.49588092e+01] [-5.55283952e-02 -2.16760821e-04 9.98457085e-01 -8.73459980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:-24.97, Z:-8.74 [[ 9.69454299e-01 2.39165483e-01 5.43896484e-02 1.34078613e+02] [-2.38799635e-01 9.70978807e-01 -1.32246265e-02 -2.49664139e+01] [-5.59740702e-02 -1.67557164e-04 9.98432209e-01 -8.73624628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-24.98, Z:-8.74 [[ 9.69766413e-01 2.37805032e-01 5.47893286e-02 1.34104822e+02] [-2.37431906e-01 9.71312904e-01 -1.33166171e-02 -2.49757829e+01] [-5.63843405e-02 -9.47266880e-05 9.98409133e-01 -8.73836016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.13, Y:-24.98, Z:-8.74 [[ 9.69887134e-01 2.37164976e-01 5.54231097e-02 1.34131947e+02] [-2.36782365e-01 9.71469387e-01 -1.34663196e-02 -2.49838402e+01] [-5.70355938e-02 -6.24048691e-05 9.98372144e-01 -8.74169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:-24.99, Z:-8.74 [[ 9.70040313e-01 2.36459959e-01 5.57537414e-02 1.34159206e+02] [-2.36071851e-01 9.71641234e-01 -1.35423078e-02 -2.49914704e+01] [-5.73748477e-02 -2.53044504e-05 9.98352706e-01 -8.74218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:-25.00, Z:-8.74 [[ 9.70059569e-01 2.36468362e-01 5.53818153e-02 1.34186376e+02] [-2.36085675e-01 9.71639189e-01 -1.34477282e-02 -2.49986791e+01] [-5.69911043e-02 -2.97557898e-05 9.98374686e-01 -8.74336606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:-25.01, Z:-8.75 [[ 9.70051345e-01 2.36541847e-01 5.52118010e-02 1.34213480e+02] [-2.36161876e-01 9.71621301e-01 -1.34020684e-02 -2.50056764e+01] [-5.68151119e-02 -3.82280483e-05 9.98384716e-01 -8.74577298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:-25.01, Z:-8.75 [[ 9.70024990e-01 2.36760686e-01 5.47347876e-02 1.34239898e+02] [-2.36387792e-01 9.71567998e-01 -1.32829702e-02 -2.50134653e+01] [-5.63234532e-02 -5.38225393e-05 9.98412573e-01 -8.74822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:-25.02, Z:-8.75 [[ 9.70044554e-01 2.37014216e-01 5.32712274e-02 1.34265590e+02] [-2.36661611e-01 9.71506179e-01 -1.29238286e-02 -2.50230609e+01] [-5.48164577e-02 -7.05650106e-05 9.98496445e-01 -8.75016175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-25.03, Z:-8.75 [[ 9.69971793e-01 2.37344808e-01 5.31240238e-02 1.34291766e+02] [-2.36994860e-01 9.71425465e-01 -1.28842168e-02 -2.50304788e+01] [-5.46640314e-02 -9.27937352e-05 9.98504800e-01 -8.75238445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-25.04, Z:-8.75 [[ 9.69875927e-01 2.37773284e-01 5.29580257e-02 1.34319014e+02] [-2.37426420e-01 9.71320674e-01 -1.28391599e-02 -2.50376853e+01] [-5.44920344e-02 -1.21242374e-04 9.98514198e-01 -8.75419200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:-25.04, Z:-8.76 [[ 9.69686816e-01 2.38606498e-01 5.26727499e-02 1.34345686e+02] [-2.38264807e-01 9.71116321e-01 -1.27660542e-02 -2.50448699e+01] [-5.41974306e-02 -1.70988145e-04 9.98530225e-01 -8.75570673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:-25.05, Z:-8.76 [[ 9.69570636e-01 2.39040656e-01 5.28426492e-02 1.34372356e+02] [-2.38697633e-01 9.71009539e-01 -1.28029400e-02 -2.50516676e+01] [-5.43711396e-02 -2.00060658e-04 9.98520776e-01 -8.75743901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:134.40, Y:-25.06, Z:-8.76 [[ 9.69521051e-01 2.39084137e-01 5.35509822e-02 1.34399073e+02] [-2.38732100e-01 9.70998832e-01 -1.29712305e-02 -2.50598213e+01] [-5.50991566e-02 -2.08457358e-04 9.98480866e-01 -8.76230098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:-25.07, Z:-8.76 [[ 9.69768957e-01 2.38181839e-01 5.30809009e-02 1.34426466e+02] [-2.37834850e-01 9.71220565e-01 -1.28529548e-02 -2.50679148e+01] [-5.46146030e-02 -1.60091483e-04 9.98507496e-01 -8.76153498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-25.08, Z:-8.76 [[ 9.69962225e-01 2.37383713e-01 5.31249015e-02 1.34453045e+02] [-2.37035096e-01 9.71415956e-01 -1.28609712e-02 -2.50761113e+01] [-5.46593621e-02 -1.17809893e-04 9.98505053e-01 -8.76355097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:-25.09, Z:-8.77 [[ 9.70176846e-01 2.36413220e-01 5.35320247e-02 1.34480401e+02] [-2.36057962e-01 9.71652605e-01 -1.29558361e-02 -2.50870038e+01] [-5.50774622e-02 -6.72084896e-05 9.98482082e-01 -8.76586039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:-25.09, Z:-8.77 [[ 9.70213153e-01 2.36141796e-01 5.40693045e-02 1.34506962e+02] [-2.35779093e-01 9.71718606e-01 -1.30832042e-02 -2.50949538e+01] [-5.56296405e-02 -5.49147778e-05 9.98451471e-01 -8.76744473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:-25.10, Z:-8.77 [[ 9.70187543e-01 2.36168024e-01 5.44131993e-02 1.34534251e+02] [-2.35800935e-01 9.71712231e-01 -1.31627615e-02 -2.51024018e+01] [-5.59825947e-02 -6.03360147e-05 9.98431743e-01 -8.76925872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:-25.11, Z:-8.77 [[ 9.70021831e-01 2.36813743e-01 5.45609689e-02 1.34560724e+02] [-2.36445826e-01 9.71555063e-01 -1.31958363e-02 -2.51107487e+01] [-5.61339410e-02 -1.00464090e-04 9.98423242e-01 -8.77067787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:-25.12, Z:-8.77 [[ 9.69891092e-01 2.37406375e-01 5.43091417e-02 1.34588113e+02] [-2.37042979e-01 9.71410415e-01 -1.31313359e-02 -2.51186299e+01] [-5.58739288e-02 -1.37634982e-04 9.98437822e-01 -8.77311997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.62, Y:-25.13, Z:-8.78 [[ 9.69459422e-01 2.39172665e-01 5.42666231e-02 1.34615097e+02] [-2.38812759e-01 9.70977022e-01 -1.31182447e-02 -2.51278787e+01] [-5.58291697e-02 -2.41956032e-04 9.98440306e-01 -8.77819947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:-25.14, Z:-8.78 [[ 9.69318530e-01 2.39709175e-01 5.44159895e-02 1.34642745e+02] [-2.39348288e-01 9.70844702e-01 -1.31514911e-02 -2.51363597e+01] [-5.59820082e-02 -2.76389954e-04 9.98431739e-01 -8.77787088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:-25.14, Z:-8.78 [[ 9.69071314e-01 2.40601813e-01 5.48776542e-02 1.34670131e+02] [-2.40236365e-01 9.70623849e-01 -1.32601810e-02 -2.51446899e+01] [-5.64559836e-02 -3.33547165e-04 9.98405033e-01 -8.77960727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:-25.15, Z:-8.78 [[ 9.68778122e-01 2.41642172e-01 5.54798186e-02 1.34696412e+02] [-2.41270521e-01 9.70365343e-01 -1.34028339e-02 -2.51522593e+01] [-5.70743831e-02 -4.01272476e-04 9.98369848e-01 -8.78167497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-25.16, Z:-8.78 [[ 9.68316120e-01 2.43591037e-01 5.50208955e-02 1.34723384e+02] [-2.43228861e-01 9.69877900e-01 -1.32883409e-02 -2.51601902e+01] [-5.66004713e-02 -5.15354994e-04 9.98396775e-01 -8.78436995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:134.75, Y:-25.17, Z:-8.79 [[ 9.67989580e-01 2.44749879e-01 5.56207592e-02 1.34751095e+02] [-2.44381881e-01 9.69586069e-01 -1.34294954e-02 -2.51674620e+01] [-5.72159807e-02 -5.93094131e-04 9.98361648e-01 -8.79028225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:-25.18, Z:-8.79 [[ 9.67577105e-01 2.46588665e-01 5.46678810e-02 1.34777808e+02] [-2.46236257e-01 9.69119988e-01 -1.31967658e-02 -2.51753146e+01] [-5.62339090e-02 -6.92325905e-04 9.98417382e-01 -8.78857999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:-25.18, Z:-8.79 [[ 9.67358663e-01 2.47589239e-01 5.40072803e-02 1.34805610e+02] [-2.47247061e-01 9.68864807e-01 -1.30336858e-02 -2.51821571e+01] [-5.55527536e-02 -7.44892495e-04 9.98455476e-01 -8.79051840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:-25.19, Z:-8.79 [[ 9.67097251e-01 2.48706209e-01 5.35549078e-02 1.34832867e+02] [-2.48371596e-01 9.68578636e-01 -1.29219307e-02 -2.51888565e+01] [-5.50859039e-02 -8.04754242e-04 9.98481295e-01 -8.79298954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:-25.20, Z:-8.80 [[ 9.66668191e-01 2.50651746e-01 5.22140932e-02 1.34859580e+02] [-2.50336688e-01 9.68076908e-01 -1.25953349e-02 -2.51958300e+01] [-5.37043006e-02 -8.95593517e-04 9.98556481e-01 -8.79501943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:-25.20, Z:-8.80 [[ 9.66451475e-01 2.51607787e-01 5.16242882e-02 1.34887982e+02] [-2.51301397e-01 9.67828825e-01 -1.24488496e-02 -2.52025588e+01] [-5.30957017e-02 -9.42046713e-04 9.98588984e-01 -8.79741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:-25.21, Z:-8.80 [[ 9.66460732e-01 2.51572095e-01 5.16249415e-02 1.34916449e+02] [-2.51265799e-01 9.67838102e-01 -1.24461396e-02 -2.52093379e+01] [-5.30956869e-02 -9.42876975e-04 9.98588984e-01 -8.79939836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-25.22, Z:-8.80 [[ 9.66280135e-01 2.52256621e-01 5.16652511e-02 1.34943852e+02] [-2.51950911e-01 9.67659874e-01 -1.24542036e-02 -2.52151568e+01] [-5.31360457e-02 -9.82857568e-04 9.98586799e-01 -8.80186664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:-25.22, Z:-8.80 [[ 9.65993921e-01 2.53217447e-01 5.23131801e-02 1.34971871e+02] [-2.52905617e-01 9.67408816e-01 -1.26067908e-02 -2.52207491e+01] [-5.38004910e-02 -1.05221387e-03 9.98551150e-01 -8.80440250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.00, Y:-25.23, Z:-8.81 [[ 9.65852324e-01 2.53553335e-01 5.32916023e-02 1.34999194e+02] [-2.53230379e-01 9.67320790e-01 -1.28399567e-02 -2.52268879e+01] [-5.48056887e-02 -1.09355062e-03 9.98496440e-01 -8.80857413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:-25.23, Z:-8.81 [[ 9.65878727e-01 2.53332426e-01 5.38606316e-02 1.35026204e+02] [-2.53002405e-01 9.67378664e-01 -1.29731695e-02 -2.52325570e+01] [-5.53901503e-02 -1.09636083e-03 9.98464185e-01 -8.80740943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-25.24, Z:-8.81 [[ 9.66024009e-01 2.52531684e-01 5.50033006e-02 1.35054429e+02] [-2.52186418e-01 9.67588027e-01 -1.32446566e-02 -2.52381717e+01] [-5.65652305e-02 -1.07642906e-03 9.98398325e-01 -8.80970301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:-25.24, Z:-8.81 [[ 9.66137194e-01 2.51966967e-01 5.56018783e-02 1.35081669e+02] [-2.51613367e-01 9.67735258e-01 -1.33859749e-02 -2.52444872e+01] [-5.71807215e-02 -1.05748756e-03 9.98363284e-01 -8.81162760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:-25.25, Z:-8.81 [[ 9.66550556e-01 2.50286761e-01 5.60050029e-02 1.35109891e+02] [-2.49925412e-01 9.68171265e-01 -1.34792230e-02 -2.52505247e+01] [-5.75961056e-02 -9.68722946e-04 9.98339496e-01 -8.81371509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:135.14, Y:-25.26, Z:-8.82 [[ 9.66737328e-01 2.49356150e-01 5.69249393e-02 1.35137145e+02] [-2.48981384e-01 9.68411402e-01 -1.36977033e-02 -2.52558988e+01] [-5.85423669e-02 -9.31169090e-04 9.98284491e-01 -8.81936984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-25.26, Z:-8.82 [[ 9.67145745e-01 2.47808618e-01 5.67450095e-02 1.35165705e+02] [-2.47433778e-01 9.68808643e-01 -1.36506163e-02 -2.52617487e+01] [-5.83577960e-02 -8.38496637e-04 9.98295379e-01 -8.81736721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:-25.27, Z:-8.82 [[ 9.67818459e-01 2.45373665e-01 5.58497574e-02 1.35193314e+02] [-2.45006681e-01 9.69428335e-01 -1.34323742e-02 -2.52664309e+01] [-5.74382882e-02 -6.83464011e-04 9.98348825e-01 -8.81958438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:-25.27, Z:-8.82 [[ 9.68094681e-01 2.44329934e-01 5.56378604e-02 1.35220695e+02] [-2.43964166e-01 9.69691960e-01 -1.33786763e-02 -2.52722898e+01] [-5.72203970e-02 -6.21818850e-04 9.98361377e-01 -8.82177243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:-25.28, Z:-8.82 [[ 9.68340602e-01 2.43320096e-01 5.57836004e-02 1.35248131e+02] [-2.42950957e-01 9.69945880e-01 -1.34098140e-02 -2.52782885e+01] [-5.73699506e-02 -5.67411787e-04 9.98352827e-01 -8.82331988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:135.28, Y:-25.28, Z:-8.83 [[ 9.68534812e-01 2.42413757e-01 5.63550269e-02 1.35275913e+02] [-2.42035681e-01 9.70172819e-01 -1.35436823e-02 -2.52833590e+01] [-5.79572902e-02 -5.22399548e-04 9.98318927e-01 -8.82885663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:-25.29, Z:-8.83 [[ 9.68709875e-01 2.41778717e-01 5.60734303e-02 1.35304375e+02] [-2.41403513e-01 9.70331293e-01 -1.34731786e-02 -2.52885560e+01] [-5.76673319e-02 -4.84721905e-04 9.98335737e-01 -8.82756863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-25.29, Z:-8.83 [[ 9.68807545e-01 2.41573584e-01 5.52643175e-02 1.35333011e+02] [-2.41208961e-01 9.70382391e-01 -1.32760357e-02 -2.52916763e+01] [-5.68346601e-02 -4.68325046e-04 9.98383495e-01 -8.83024101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:-25.30, Z:-8.83 [[ 9.68815009e-01 2.41576099e-01 5.51222928e-02 1.35360703e+02] [-2.41213497e-01 9.70381764e-01 -1.32393879e-02 -2.52956803e+01] [-5.66879874e-02 -4.69723295e-04 9.98391833e-01 -8.83236149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264000000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:135.39, Y:-25.30, Z:-8.84 [[ 9.68717623e-01 2.41936911e-01 5.52512355e-02 1.35387590e+02] [-2.41573444e-01 9.70291856e-01 -1.32659844e-02 -2.53003328e+01] [-5.68193551e-02 -4.96238381e-04 9.98384352e-01 -8.83772716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:-25.31, Z:-8.84 [[ 9.68938526e-01 2.40886582e-01 5.59623706e-02 1.35416021e+02] [-2.40512154e-01 9.70553171e-01 -1.34330206e-02 -2.53062210e+01] [-5.75502907e-02 -4.43859099e-04 9.98342510e-01 -8.83696712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.44, Y:-25.31, Z:-8.84 [[ 9.69505268e-01 2.38324363e-01 5.71054551e-02 1.35444413e+02] [-2.37930205e-01 9.71185568e-01 -1.37043740e-02 -2.53128864e+01] [-5.87260800e-02 -3.00649893e-04 9.98274089e-01 -8.83853506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:-25.32, Z:-8.84 [[ 9.69894021e-01 2.36715051e-01 5.71976569e-02 1.35471327e+02] [-2.36316993e-01 9.71579097e-01 -1.37235835e-02 -2.53181979e+01] [-5.88206267e-02 -2.06356735e-04 9.98268547e-01 -8.84017810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.50, Y:-25.32, Z:-8.84 [[ 9.70236936e-01 2.35274917e-01 5.73236517e-02 1.35499341e+02] [-2.34872818e-01 9.71928855e-01 -1.37499352e-02 -2.53234953e+01] [-5.89495260e-02 -1.23072625e-04 9.98260957e-01 -8.84461076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.53, Y:-25.33, Z:-8.85 [[ 9.71085807e-01 2.31721114e-01 5.74254333e-02 1.35528230e+02] [-2.31311546e-01 9.72782256e-01 -1.37713991e-02 -2.53283704e+01] [-5.90535664e-02 9.00444544e-05 9.98254811e-01 -8.84631517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:-25.34, Z:-8.85 [[ 9.71532918e-01 2.29879265e-01 5.72652770e-02 1.35555318e+02] [-2.29468950e-01 9.73219135e-01 -1.37301465e-02 -2.53351100e+01] [-5.88879393e-02 1.98686328e-04 9.98264580e-01 -8.84647387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:135.58, Y:-25.34, Z:-8.85 [[ 9.72053507e-01 2.27731107e-01 5.70133449e-02 1.35582491e+02] [-2.27320923e-01 9.73724005e-01 -1.36660181e-02 -2.53438174e+01] [-5.86274399e-02 3.23774603e-04 9.98279880e-01 -8.85034958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:-25.35, Z:-8.85 [[ 9.72279682e-01 2.26569625e-01 5.77791013e-02 1.35609697e+02] [-2.26146462e-01 9.73994891e-01 -1.38466574e-02 -2.53509650e+01] [-5.94137815e-02 3.96284329e-04 9.98233362e-01 -8.85086844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:-25.36, Z:-8.85 [[ 9.72478738e-01 2.25824640e-01 5.73440201e-02 1.35638500e+02] [-2.25406791e-01 9.74167872e-01 -1.37380791e-02 -2.53584662e+01] [-5.89650988e-02 4.34258234e-04 9.98259950e-01 -8.85289104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:-25.37, Z:-8.85 [[ 9.72723802e-01 2.25030007e-01 5.63018658e-02 1.35665999e+02] [-2.24625967e-01 9.74351719e-01 -1.34871032e-02 -2.53652563e+01] [-5.78928227e-02 4.72365243e-04 9.98322692e-01 -8.85476080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85264000000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:135.69, Y:-25.37, Z:-8.86 [[ 9.72717111e-01 2.25177801e-01 5.58245400e-02 1.35693731e+02] [-2.24780948e-01 9.74317581e-01 -1.33707427e-02 -2.53723294e+01] [-5.74016253e-02 4.57657229e-04 9.98351062e-01 -8.85964873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:-25.38, Z:-8.86 [[ 9.72667335e-01 2.25393758e-01 5.58203282e-02 1.35722189e+02] [-2.24997499e-01 9.74267652e-01 -1.33666217e-02 -2.53810781e+01] [-5.73966932e-02 4.41842066e-04 9.98351353e-01 -8.85964658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-25.39, Z:-8.86 [[ 9.72495357e-01 2.26023516e-01 5.62685527e-02 1.35750164e+02] [-2.25621994e-01 9.74121761e-01 -1.34726074e-02 -2.53889002e+01] [-5.78575477e-02 4.06625091e-04 9.98324766e-01 -8.86139573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-25.40, Z:-8.86 [[ 9.72276373e-01 2.26884634e-01 5.65863774e-02 1.35776975e+02] [-2.26480130e-01 9.73921576e-01 -1.35467417e-02 -2.53961345e+01] [-5.81842414e-02 3.55486769e-04 9.98305799e-01 -8.86284352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:-25.41, Z:-8.86 [[ 9.71692014e-01 2.29249738e-01 5.70892967e-02 1.35803750e+02] [-2.28842304e-01 9.73367614e-01 -1.36633566e-02 -2.54059518e+01] [-5.87011934e-02 2.12128269e-04 9.98275576e-01 -8.86485241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:-25.41, Z:-8.87 [[ 9.71392422e-01 2.30476889e-01 5.72465290e-02 1.35831122e+02] [-2.30069513e-01 9.73077790e-01 -1.36979639e-02 -2.54138661e+01] [-5.88623900e-02 1.35417267e-04 9.98266097e-01 -8.86661784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:-25.42, Z:-8.87 [[ 9.71109991e-01 2.31664040e-01 5.72464723e-02 1.35857560e+02] [-2.31258841e-01 9.72795851e-01 -1.36959773e-02 -2.54210702e+01] [-5.88619962e-02 6.15475690e-05 9.98266128e-01 -8.86826159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.88, Y:-25.44, Z:-8.87 [[ 9.70749517e-01 2.33178508e-01 5.72115226e-02 1.35883284e+02] [-2.33438254e-01 9.72369152e-01 -2.19388569e-03 -2.54360627e+01] [-5.61422867e-02 -1.12256445e-02 9.98359669e-01 -8.86609505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:-25.44, Z:-8.87 [[ 9.70504617e-01 2.34536355e-01 5.57986240e-02 1.35913023e+02] [-2.34144847e-01 9.72107346e-01 -1.35461845e-02 -2.54374217e+01] [-5.74193250e-02 8.16743703e-05 9.98350146e-01 -8.86744152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-25.44, Z:-8.87 [[ 9.69733764e-01 2.37398773e-01 5.70810770e-02 1.35941599e+02] [-2.36362666e-01 9.71359421e-01 -2.43631962e-02 -2.54398232e+01] [-6.12300348e-02 1.01339784e-02 9.98072235e-01 -8.87346882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-25.45, Z:-8.88 [[ 9.69423949e-01 2.38024466e-01 5.96788101e-02 1.35968687e+02] [-2.37596575e-01 9.71259097e-01 -1.42700287e-02 -2.54530735e+01] [-6.13602032e-02 -3.45773299e-04 9.98115628e-01 -8.87513041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:-25.46, Z:-8.87 [[ 9.69208825e-01 2.38852316e-01 5.98650589e-02 1.35994202e+02] [-2.39015274e-01 9.71005245e-01 -4.52916815e-03 -2.54649712e+01] [-5.92110885e-02 -9.91895371e-03 9.98196204e-01 -8.87191378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:-25.46, Z:-8.88 [[ 9.68302489e-01 2.43143816e-01 5.71959302e-02 1.36024198e+02] [-2.42181127e-01 9.69951092e-01 -2.33062401e-02 -2.54608145e+01] [-6.11440231e-02 8.71571546e-03 9.98090900e-01 -8.87998743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:-25.47, Z:-8.88 [[ 9.67962079e-01 2.44123388e-01 5.87638038e-02 1.36049955e+02] [-2.43720186e-01 9.69743905e-01 -1.40438357e-02 -2.54730927e+01] [-6.04142693e-02 -7.28024821e-04 9.98173124e-01 -8.88275070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:-25.48, Z:-8.88 [[ 9.67602273e-01 2.45633070e-01 5.83972270e-02 1.36076731e+02] [-2.45237859e-01 9.69362533e-01 -1.39524687e-02 -2.54796630e+01] [-6.00352717e-02 -8.20770472e-04 9.98195919e-01 -8.88499578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:-25.49, Z:-8.88 [[ 9.67135635e-01 2.47546591e-01 5.80460943e-02 1.36103013e+02] [-2.47623083e-01 9.68837956e-01 -5.98534575e-03 -2.54886962e+01] [-5.77189113e-02 -8.58491167e-03 9.98295961e-01 -8.88100344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:-25.49, Z:-8.89 [[ 9.66785500e-01 2.49000177e-01 5.76602813e-02 1.36132499e+02] [-2.48152370e-01 9.68481524e-01 -2.15392282e-02 -2.54861655e+01] [-6.12061888e-02 6.51527804e-03 9.98103879e-01 -8.88795394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:136.16, Y:-25.50, Z:-8.89 [[ 9.67097432e-01 2.47817703e-01 5.75234115e-02 1.36158405e+02] [-2.47438282e-01 9.68806221e-01 -1.37405763e-02 -2.54967873e+01] [-5.91341969e-02 -9.45018031e-04 9.98249595e-01 -8.89102252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:136.19, Y:-25.50, Z:-8.89 [[ 9.67257227e-01 2.47211762e-01 5.74438974e-02 1.36186413e+02] [-2.46832547e-01 9.68961050e-01 -1.37177930e-02 -2.55022375e+01] [-5.90520989e-02 -9.10389105e-04 9.98254487e-01 -8.89331224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-25.51, Z:-8.89 [[ 9.67413496e-01 2.46421444e-01 5.82030877e-02 1.36215036e+02] [-2.46030885e-01 9.69162372e-01 -1.38960327e-02 -2.55083557e+01] [-5.98325229e-02 -8.76547584e-04 9.98208045e-01 -8.89450688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:-25.52, Z:-8.90 [[ 9.67807902e-01 2.44840992e-01 5.83159777e-02 1.36241687e+02] [-2.44446225e-01 9.69562930e-01 -1.39200563e-02 -2.55151916e+01] [-5.99492106e-02 -7.83180081e-04 9.98201121e-01 -8.89649937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-25.52, Z:-8.90 [[ 9.68625911e-01 2.41541608e-01 5.84935615e-02 1.36269342e+02] [-2.41138651e-01 9.70390288e-01 -1.39585316e-02 -2.55234967e+01] [-6.01331502e-02 -5.84463109e-04 9.98190194e-01 -8.89795696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:136.30, Y:-25.53, Z:-8.90 [[ 9.69042465e-01 2.40112492e-01 5.74690479e-02 1.36296504e+02] [-2.39721192e-01 9.70744947e-01 -1.37112629e-02 -2.55295045e+01] [-5.90800333e-02 -4.89752684e-04 9.98253129e-01 -8.90113167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:-25.54, Z:-8.90 [[ 9.69262629e-01 2.39136656e-01 5.78240080e-02 1.36323714e+02] [-2.38738991e-01 9.70985823e-01 -1.37922020e-02 -2.55358179e+01] [-5.94445131e-02 -4.36579414e-04 9.98231516e-01 -8.90184815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-25.54, Z:-8.90 [[ 9.69388789e-01 2.38596040e-01 5.79422564e-02 1.36351463e+02] [-2.38196008e-01 9.71118820e-01 -1.38166008e-02 -2.55437177e+01] [-5.95654020e-02 -4.07956227e-04 9.98224322e-01 -8.90319735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:-25.55, Z:-8.91 [[ 9.69199592e-01 2.39245109e-01 5.84288390e-02 1.36379164e+02] [-2.38839685e-01 9.70959099e-01 -1.39296054e-02 -2.55505488e+01] [-6.00646028e-02 -4.54557616e-04 9.98194388e-01 -8.90506404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-25.56, Z:-8.91 [[ 9.68370465e-01 2.42475714e-01 5.88572109e-02 1.36406562e+02] [-2.42070455e-01 9.70157250e-01 -1.40287374e-02 -2.55566878e+01] [-6.05023780e-02 -6.62576877e-04 9.98167833e-01 -8.90673275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-25.56, Z:-8.91 [[ 9.67888993e-01 2.44422671e-01 5.87235510e-02 1.36434277e+02] [-2.44023066e-01 9.69668469e-01 -1.39929846e-02 -2.55630095e+01] [-6.03625785e-02 -7.86245217e-04 9.98176207e-01 -8.90840279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-25.58, Z:-8.90 [[ 9.67465068e-01 2.45973667e-01 5.92308794e-02 1.36460528e+02] [-2.46399360e-01 9.69168376e-01 -1.20302883e-04 -2.55768695e+01] [-5.74342866e-02 -1.44780620e-02 9.98244303e-01 -8.90355264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:-25.57, Z:-8.91 [[ 9.66369364e-01 2.51215826e-01 5.49623653e-02 1.36491421e+02] [-2.50783166e-01 9.67930985e-01 -1.47448734e-02 -2.55731073e+01] [-5.69039219e-02 4.65357911e-04 9.98379551e-01 -8.90737403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:-25.58, Z:-8.91 [[ 9.66085312e-01 2.52203487e-01 5.54307794e-02 1.36519524e+02] [-2.51886692e-01 9.67672816e-01 -1.27442650e-02 -2.55798029e+01] [-5.68530065e-02 -1.65022845e-03 9.98381196e-01 -8.91010357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:-25.58, Z:-8.92 [[ 9.65857034e-01 2.53407325e-01 5.38972831e-02 1.36548093e+02] [-2.52369310e-01 9.67298158e-01 -2.53772509e-02 -2.55786301e+01] [-5.85655239e-02 1.09087762e-02 9.98223962e-01 -8.91736541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.57, Y:-25.59, Z:-8.92 [[ 9.66198875e-01 2.51740900e-01 5.55540639e-02 1.36573713e+02] [-2.51395752e-01 9.67793946e-01 -1.32308241e-02 -2.55923439e+01] [-5.70956263e-02 -1.18244830e-03 9.98368014e-01 -8.92050746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-25.60, Z:-8.92 [[ 9.66271471e-01 2.51255168e-01 5.64825991e-02 1.36601357e+02] [-2.50897796e-01 9.67920170e-01 -1.34477227e-02 -2.55985068e+01] [-5.80494567e-02 -1.17720887e-03 9.98313014e-01 -8.92175893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:-25.61, Z:-8.92 [[ 9.66636894e-01 2.50036123e-01 5.56331998e-02 1.36628289e+02] [-2.50088713e-01 9.68203538e-01 -6.12731849e-03 -2.56082803e+01] [-5.53963118e-02 -7.99034321e-03 9.98432473e-01 -8.91876309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:-25.61, Z:-8.92 [[ 9.66618582e-01 2.50440255e-01 5.41127981e-02 1.36656681e+02] [-2.50114450e-01 9.68131384e-01 -1.28212789e-02 -2.56108913e+01] [-5.55992625e-02 -1.14110626e-03 9.98452513e-01 -8.92070712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:-25.61, Z:-8.93 [[ 9.66810357e-01 2.49680668e-01 5.41968449e-02 1.36684683e+02] [-2.48949609e-01 9.68310865e-01 -1.99539922e-02 -2.56136804e+01] [-5.74615199e-02 5.79944295e-03 9.98330877e-01 -8.92745838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:-25.62, Z:-8.93 [[ 9.66934034e-01 2.48825861e-01 5.58951225e-02 1.36711500e+02] [-2.48473113e-01 9.68547678e-01 -1.32855990e-02 -2.56241558e+01] [-5.74428917e-02 -1.04213724e-03 9.98348250e-01 -8.92913784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:-25.63, Z:-8.93 [[ 9.67050020e-01 2.48223205e-01 5.65641227e-02 1.36739619e+02] [-2.47861108e-01 9.68702326e-01 -1.34415020e-02 -2.56298247e+01] [-5.81302899e-02 -1.02144139e-03 9.98308482e-01 -8.93041908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.77, Y:-25.64, Z:-8.93 [[ 9.67228356e-01 2.47579372e-01 5.63361480e-02 1.36766679e+02] [-2.47219212e-01 9.68867118e-01 -1.33853883e-02 -2.56360768e+01] [-5.78961874e-02 -9.80650968e-04 9.98322127e-01 -8.93243310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:-25.64, Z:-8.93 [[ 9.67383945e-01 2.46912147e-01 5.65923630e-02 1.36795074e+02] [-2.46547785e-01 9.69037405e-01 -1.34424086e-02 -2.56430428e+01] [-5.81592105e-02 -9.48751486e-04 9.98306870e-01 -8.93352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-25.65, Z:-8.94 [[ 9.67525379e-01 2.46405909e-01 5.63805767e-02 1.36821622e+02] [-2.46043576e-01 9.69166284e-01 -1.33892760e-02 -2.56492642e+01] [-5.79413507e-02 -9.17614362e-04 9.98319567e-01 -8.93533164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:-25.66, Z:-8.94 [[ 9.67716087e-01 2.45643357e-01 5.64350607e-02 1.36849990e+02] [-2.45279273e-01 9.69359878e-01 -1.33979779e-02 -2.56553258e+01] [-5.79970078e-02 -8.76911949e-04 9.98316372e-01 -8.93679166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-25.66, Z:-8.94 [[ 9.67758338e-01 2.45418958e-01 5.66862895e-02 1.36877658e+02] [-2.45051411e-01 9.69416721e-01 -1.34546596e-02 -2.56616341e+01] [-5.82546654e-02 -8.70196178e-04 9.98301376e-01 -8.93858772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:136.91, Y:-25.67, Z:-8.94 [[ 9.67858089e-01 2.45112362e-01 5.63085203e-02 1.36905215e+02] [-2.44749347e-01 9.69494306e-01 -1.33621838e-02 -2.56675361e+01] [-5.78660263e-02 -8.48775875e-04 9.98323997e-01 -8.94102853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:-25.67, Z:-8.94 [[ 9.67770997e-01 2.45061507e-01 5.80013402e-02 1.36932341e+02] [-2.44676464e-01 9.69507139e-01 -1.37599403e-02 -2.56741891e+01] [-5.96047451e-02 -8.75091676e-04 9.98221673e-01 -8.94213772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:-25.68, Z:-8.94 [[ 9.67835091e-01 2.44872199e-01 5.77307808e-02 1.36960542e+02] [-2.44490634e-01 9.69554981e-01 -1.36919073e-02 -2.56812941e+01] [-5.93259336e-02 -8.63126899e-04 9.98238293e-01 -8.94326077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:-25.69, Z:-8.95 [[ 9.67976515e-01 2.44463094e-01 5.70899430e-02 1.36987902e+02] [-2.44089414e-01 9.69658241e-01 -1.35371116e-02 -2.56877153e+01] [-5.86670579e-02 -8.31444645e-04 9.98277259e-01 -8.94531461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:-25.69, Z:-8.95 [[ 9.68041556e-01 2.44387727e-01 5.63044035e-02 1.37016179e+02] [-2.44024357e-01 9.69677249e-01 -1.33471042e-02 -2.56938497e+01] [-5.78589676e-02 -8.19094383e-04 9.98324431e-01 -8.94714720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:-25.70, Z:-8.95 [[ 9.68133827e-01 2.44195338e-01 5.55475497e-02 1.37044273e+02] [-2.43841520e-01 9.69725733e-01 -1.31649200e-02 -2.57000286e+01] [-5.70807004e-02 -7.99394621e-04 9.98369248e-01 -8.94850515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:-25.71, Z:-8.95 [[ 9.68343508e-01 2.43380194e-01 5.54700972e-02 1.37071399e+02] [-2.43026183e-01 9.69930675e-01 -1.31438394e-02 -2.57067611e+01] [-5.70010990e-02 -7.52934400e-04 9.98373832e-01 -8.95025310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.10, Y:-25.71, Z:-8.95 [[ 9.68590027e-01 2.42611291e-01 5.45263414e-02 1.37099731e+02] [-2.42268216e-01 9.70123329e-01 -1.29166136e-02 -2.57131369e+01] [-5.60309921e-02 -6.99096382e-04 9.98428785e-01 -8.95315846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:-25.72, Z:-8.95 [[ 9.68813294e-01 2.41759667e-01 5.43420994e-02 1.37126349e+02] [-2.41417714e-01 9.70335942e-01 -1.28703900e-02 -2.57198225e+01] [-5.58416335e-02 -6.50140501e-04 9.98439427e-01 -8.95374254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-25.73, Z:-8.96 [[ 9.68965491e-01 2.41191264e-01 5.41539511e-02 1.37154087e+02] [-2.40851007e-01 9.70477404e-01 -1.28219141e-02 -2.57265340e+01] [-5.56477195e-02 -6.19041321e-04 9.98450273e-01 -8.95531438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:-25.73, Z:-8.96 [[ 9.69156455e-01 2.40375871e-01 5.43618041e-02 1.37180640e+02] [-2.40031859e-01 9.70679714e-01 -1.28685196e-02 -2.57334495e+01] [-5.58611820e-02 -5.76956044e-04 9.98438378e-01 -8.95706402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-25.74, Z:-8.96 [[ 9.69398951e-01 2.39296777e-01 5.47971420e-02 1.37208733e+02] [-2.38945711e-01 9.70946332e-01 -1.29679597e-02 -2.57413737e+01] [-5.63082750e-02 -5.22415457e-04 9.98413294e-01 -8.95822794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:-25.75, Z:-8.96 [[ 9.69458270e-01 2.38969471e-01 5.51747661e-02 1.37236946e+02] [-2.38613179e-01 9.71026947e-01 -1.30544466e-02 -2.57479806e+01] [-5.66957989e-02 -5.09685100e-04 9.98391369e-01 -8.95996706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:-25.75, Z:-8.96 [[ 9.69490036e-01 2.38766316e-01 5.54951942e-02 1.37263652e+02] [-2.38405694e-01 9.71076924e-01 -1.31275190e-02 -2.57545463e+01] [-5.70245119e-02 -5.03371403e-04 9.98372652e-01 -8.96226561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:137.29, Y:-25.76, Z:-8.96 [[ 9.69645046e-01 2.38286891e-01 5.48438060e-02 1.37290378e+02] [-2.37934122e-01 9.71194694e-01 -1.29699610e-02 -2.57603946e+01] [-5.63545851e-02 -4.72954356e-04 9.98410706e-01 -8.96455099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:-25.77, Z:-8.96 [[ 9.69488798e-01 2.38763418e-01 5.55292691e-02 1.37318010e+02] [-2.38402767e-01 9.71077633e-01 -1.31282563e-02 -2.57670678e+01] [-5.70577786e-02 -5.10633968e-04 9.98370747e-01 -8.96461218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.34, Y:-25.77, Z:-8.97 [[ 9.69398947e-01 2.39275062e-01 5.48919567e-02 1.37344881e+02] [-2.38923612e-01 9.70951676e-01 -1.29750388e-02 -2.57727168e+01] [-5.64020406e-02 -5.36995614e-04 9.98407993e-01 -8.96676382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:-25.78, Z:-8.97 [[ 9.69285629e-01 2.39701999e-01 5.50301925e-02 1.37372888e+02] [-2.39349661e-01 9.70846348e-01 -1.30041870e-02 -2.57801933e+01] [-5.65429910e-02 -5.66686366e-04 9.98400005e-01 -8.96828048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.40, Y:-25.79, Z:-8.97 [[ 9.69291280e-01 2.39772793e-01 5.46207093e-02 1.37400557e+02] [-2.39425949e-01 9.70828864e-01 -1.29047111e-02 -2.57870894e+01] [-5.61215598e-02 -5.69191135e-04 9.98423781e-01 -8.97128361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-25.79, Z:-8.97 [[ 9.69161465e-01 2.40324138e-01 5.45010374e-02 1.37428397e+02] [-2.39979835e-01 9.70692508e-01 -1.28737399e-02 -2.57947447e+01] [-5.59976192e-02 -6.02417342e-04 9.98430721e-01 -8.97177954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-25.80, Z:-8.97 [[ 9.68890380e-01 2.41307463e-01 5.49739838e-02 1.37455779e+02] [-2.40958889e-01 9.70448485e-01 -1.29827425e-02 -2.58012278e+01] [-5.64822520e-02 -6.67615702e-04 9.98403380e-01 -8.97359608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:-25.81, Z:-8.98 [[ 9.68597112e-01 2.42404839e-01 5.53130067e-02 1.37482115e+02] [-2.42053931e-01 9.70174905e-01 -1.30593691e-02 -2.58070807e+01] [-5.68289453e-02 -7.39463583e-04 9.98383656e-01 -8.97519592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:-25.81, Z:-8.98 [[ 9.68250052e-01 2.43794684e-01 5.52810063e-02 1.37509891e+02] [-2.43446802e-01 9.69826515e-01 -1.30455298e-02 -2.58127745e+01] [-5.67934165e-02 -8.26649303e-04 9.98385609e-01 -8.97663671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-25.82, Z:-8.98 [[ 9.67541851e-01 2.46812494e-01 5.42803730e-02 1.37537160e+02] [-2.46482057e-01 9.69062750e-01 -1.28055177e-02 -2.58169160e+01] [-5.57616493e-02 -9.89263683e-04 9.98443619e-01 -8.97787562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:-25.82, Z:-8.98 [[ 9.67293142e-01 2.47986300e-01 5.33551516e-02 1.37565593e+02] [-2.47669052e-01 9.68762978e-01 -1.25830586e-02 -2.58220585e+01] [-5.48089217e-02 -1.04291347e-03 9.98496317e-01 -8.97941179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-25.82, Z:-8.98 [[ 9.66790832e-01 2.50108970e-01 5.25451260e-02 1.37592963e+02] [-2.49804552e-01 9.68217014e-01 -1.23895123e-02 -2.58247286e+01] [-5.39738132e-02 -1.14794479e-03 9.98541692e-01 -8.98224452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:137.62, Y:-25.83, Z:-8.99 [[ 9.66711720e-01 2.50519146e-01 5.20442869e-02 1.37620365e+02] [-2.50221281e-01 9.68110947e-01 -1.22680613e-02 -2.58285059e+01] [-5.34580281e-02 -1.16290954e-03 9.98569420e-01 -8.98522400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-25.83, Z:-8.99 [[ 9.66655294e-01 2.50573000e-01 5.28272043e-02 1.37647586e+02] [-2.50266360e-01 9.68096980e-01 -1.24493211e-02 -2.58334920e+01] [-5.42613207e-02 -1.18666991e-03 9.98526064e-01 -8.98535561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-25.84, Z:-8.99 [[ 9.67031698e-01 2.48852640e-01 5.40560680e-02 1.37675189e+02] [-2.48529112e-01 9.68540711e-01 -1.27346200e-02 -2.58369652e+01] [-5.55245464e-02 -1.11972536e-03 9.98456695e-01 -8.98648998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.70, Y:-25.84, Z:-8.99 [[ 9.67456232e-01 2.47136429e-01 5.43325388e-02 1.37703057e+02] [-2.46807112e-01 9.68980146e-01 -1.27955432e-02 -2.58414137e+01] [-5.58093962e-02 -1.03052898e-03 9.98440909e-01 -8.98998756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:-25.85, Z:-8.99 [[ 9.67899559e-01 2.45333230e-01 5.46081527e-02 1.37729812e+02] [-2.44997922e-01 9.69438359e-01 -1.28563656e-02 -2.58462326e+01] [-5.60933317e-02 -9.35213377e-04 9.98425092e-01 -8.98961255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:-25.85, Z:-8.99 [[ 9.69060001e-01 2.40472654e-01 5.56382667e-02 1.37757594e+02] [-2.40116854e-01 9.70655682e-01 -1.30936708e-02 -2.58496118e+01] [-5.71542694e-02 -6.71132949e-04 9.98365133e-01 -8.99078375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-25.86, Z:-8.99 [[ 9.69639786e-01 2.37963992e-01 5.63189475e-02 1.37784869e+02] [-2.37595442e-01 9.71273830e-01 -1.32496173e-02 -2.58556206e+01] [-5.78540517e-02 -5.33769171e-04 9.98324909e-01 -8.99251442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-25.86, Z:-8.99 [[ 9.70294163e-01 2.35208517e-01 5.66232296e-02 1.37812103e+02] [-2.34831546e-01 9.71944861e-01 -1.33166337e-02 -2.58617634e+01] [-5.81668427e-02 -3.75868563e-04 9.98306805e-01 -8.99417373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-25.87, Z:-9.00 [[ 9.71477867e-01 2.30291964e-01 5.65364150e-02 1.37839766e+02] [-2.29908039e-01 9.73121577e-01 -1.32924485e-02 -2.58684389e+01] [-5.80779494e-02 -8.48567902e-05 9.98312048e-01 -8.99611745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-25.88, Z:-9.00 [[ 9.72049324e-01 2.28052096e-01 5.57884631e-02 1.37866743e+02] [-2.27674734e-01 9.73648930e-01 -1.31139636e-02 -2.58756108e+01] [-5.73090443e-02 4.57959324e-05 9.98356485e-01 -8.99721801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.89, Y:-25.88, Z:-9.00 [[ 9.72969183e-01 2.24326049e-01 5.48524613e-02 1.37894628e+02] [-2.23955545e-01 9.74514114e-01 -1.28901635e-02 -2.58836361e+01] [-5.63460971e-02 2.57219016e-04 9.98411264e-01 -9.00021053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-25.89, Z:-9.00 [[ 9.73233379e-01 2.23362558e-01 5.40921225e-02 1.37921676e+02] [-2.23000920e-01 9.74735387e-01 -1.27088848e-02 -2.58905041e+01] [-5.55641950e-02 3.06117852e-04 9.98455070e-01 -9.00096035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:-25.90, Z:-9.00 [[ 9.73452830e-01 2.22507168e-01 5.36670166e-02 1.37948675e+02] [-2.22150088e-01 9.74930992e-01 -1.26055504e-02 -2.58969778e+01] [-5.51264630e-02 3.48776239e-04 9.98479319e-01 -9.00305440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:137.98, Y:-25.91, Z:-9.01 [[ 9.73723719e-01 2.21443557e-01 5.31495109e-02 1.37976089e+02] [-2.21091939e-01 9.75173108e-01 -1.24805769e-02 -2.59050580e+01] [-5.45937171e-02 4.01705297e-04 9.98508570e-01 -9.00639485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-25.91, Z:-9.01 [[ 9.73735261e-01 2.21376163e-01 5.32187506e-02 1.38004096e+02] [-2.21023677e-01 9.75188408e-01 -1.24940997e-02 -2.59133427e+01] [-5.46642045e-02 4.03341547e-04 9.98504713e-01 -9.00672842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-25.92, Z:-9.01 [[ 9.73741409e-01 2.21375505e-01 5.31088939e-02 1.38032151e+02] [-2.21024622e-01 9.75188559e-01 -1.24655784e-02 -2.59211242e+01] [-5.45507595e-02 3.99876706e-04 9.98510919e-01 -9.00879612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-25.93, Z:-9.01 [[ 9.73711200e-01 2.21594440e-01 5.27484955e-02 1.38059909e+02] [-2.21248774e-01 9.75138840e-01 -1.23783032e-02 -2.59294272e+01] [-5.41800699e-02 3.82352524e-04 9.98531108e-01 -9.01076800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:-25.94, Z:-9.01 [[ 9.73539837e-01 2.22511692e-01 5.20454877e-02 1.38087096e+02] [-2.22176645e-01 9.74929968e-01 -1.22105091e-02 -2.59400156e+01] [-5.34576867e-02 3.24125168e-04 9.98570063e-01 -9.01316258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-25.95, Z:-9.01 [[ 9.73342944e-01 2.23297248e-01 5.23627086e-02 1.38113683e+02] [-2.22959327e-01 9.74750358e-01 -1.22832572e-02 -2.59466577e+01] [-5.37833864e-02 2.81067410e-04 9.98552587e-01 -9.01455485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:-25.95, Z:-9.02 [[ 9.72866864e-01 2.25404489e-01 5.21812326e-02 1.38141981e+02] [-2.25072123e-01 9.74265257e-01 -1.22372019e-02 -2.59537913e+01] [-5.35966822e-02 1.60627423e-04 9.98562652e-01 -9.01644071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-25.96, Z:-9.02 [[ 9.72705868e-01 2.26222220e-01 5.16410903e-02 1.38169261e+02] [-2.25897992e-01 9.74075713e-01 -1.21079509e-02 -2.59617637e+01] [-5.30414194e-02 1.11856237e-04 9.98592307e-01 -9.01853972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-25.97, Z:-9.02 [[ 9.72469959e-01 2.27083076e-01 5.23015893e-02 1.38195623e+02] [-2.26751871e-01 9.73875389e-01 -1.22603605e-02 -2.59699334e+01] [-5.37193510e-02 6.33490677e-05 9.98556071e-01 -9.02095986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-25.98, Z:-9.02 [[ 9.71859924e-01 2.29627517e-01 5.25308583e-02 1.38223125e+02] [-2.29297327e-01 9.73278581e-01 -1.23101218e-02 -2.59801470e+01] [-5.39539020e-02 -8.14713237e-05 9.98543424e-01 -9.02226284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-25.99, Z:-9.02 [[ 9.71516475e-01 2.30943837e-01 5.31101006e-02 1.38249716e+02] [-2.30608380e-01 9.72967070e-01 -1.24441075e-02 -2.59876380e+01] [-5.45482689e-02 -1.57978782e-04 9.98511122e-01 -9.02483393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:-26.00, Z:-9.03 [[ 9.71193842e-01 2.32289928e-01 5.31404734e-02 1.38277858e+02] [-2.31956300e-01 9.72646561e-01 -1.24475699e-02 -2.59951933e+01] [-5.45783438e-02 -2.37264290e-04 9.98509463e-01 -9.02600265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:138.30, Y:-26.01, Z:-9.03 [[ 9.70476884e-01 2.34250115e-01 5.74586982e-02 1.38304965e+02] [-2.34529584e-01 9.72107075e-01 -1.92580775e-03 -2.60084903e+01] [-5.63071277e-02 -1.16068127e-02 9.98346027e-01 -9.02801625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.33, Y:-26.00, Z:-9.03 [[ 9.70118005e-01 2.37239643e-01 5.08763963e-02 1.38334459e+02] [-2.36317186e-01 9.71391120e-01 -2.35261363e-02 -2.60035913e+01] [-5.50022117e-02 1.08001616e-02 9.98427821e-01 -9.03045059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:-26.02, Z:-9.03 [[ 9.69647624e-01 2.38478550e-01 5.39579968e-02 1.38359491e+02] [-2.38144602e-01 9.71147578e-01 -1.26305482e-02 -2.60186856e+01] [-5.54132927e-02 -6.02624649e-04 9.98463321e-01 -9.03204971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:-26.03, Z:-9.03 [[ 9.69552845e-01 2.38992767e-01 5.33829398e-02 1.38387609e+02] [-2.38666881e-01 9.71021144e-01 -1.24923089e-02 -2.60258897e+01] [-5.48215348e-02 -6.28786103e-04 9.98495971e-01 -9.03396117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:-26.03, Z:-9.04 [[ 9.69561314e-01 2.38958267e-01 5.33835674e-02 1.38416120e+02] [-2.38632477e-01 9.71029634e-01 -1.24896265e-02 -2.60324741e+01] [-5.48215254e-02 -6.29594229e-04 9.98495971e-01 -9.03596761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-26.04, Z:-9.04 [[ 9.69505420e-01 2.39197925e-01 5.33253607e-02 1.38444045e+02] [-2.38873307e-01 9.70970616e-01 -1.24741793e-02 -2.60395034e+01] [-5.47611562e-02 -6.44220820e-04 9.98499274e-01 -9.03832522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-26.05, Z:-9.04 [[ 9.69474856e-01 2.39416699e-01 5.28975186e-02 1.38471473e+02] [-2.39097739e-01 9.70916689e-01 -1.23715273e-02 -2.60463498e+01] [-5.43210338e-02 -6.53792439e-04 9.98523309e-01 -9.04034325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-26.05, Z:-9.04 [[ 9.69304244e-01 2.40061270e-01 5.31024383e-02 1.38497947e+02] [-2.39740941e-01 9.70757489e-01 -1.24168360e-02 -2.60529598e+01] [-5.45303911e-02 -6.95136754e-04 9.98511869e-01 -9.04301293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.52, Y:-26.06, Z:-9.05 [[ 9.69250295e-01 2.40403745e-01 5.25348003e-02 1.38524930e+02] [-2.40090914e-01 9.70672723e-01 -1.22807852e-02 -2.60589841e+01] [-5.39464444e-02 -7.09973542e-04 9.98543578e-01 -9.04578611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-26.07, Z:-9.05 [[ 9.68927495e-01 2.41766865e-01 5.22330577e-02 1.38552948e+02] [-2.41459799e-01 9.70334049e-01 -1.22065041e-02 -2.60652793e+01] [-5.36346426e-02 -7.84966129e-04 9.98560318e-01 -9.04769510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:-26.07, Z:-9.05 [[ 9.68779833e-01 2.42401366e-01 5.20308894e-02 1.38580842e+02] [-2.42097725e-01 9.70175709e-01 -1.21567027e-02 -2.60715208e+01] [-5.34259064e-02 -8.19391526e-04 9.98571480e-01 -9.04981552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03264000000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:138.61, Y:-26.08, Z:-9.05 [[ 9.68624848e-01 2.43021427e-01 5.20239421e-02 1.38607460e+02] [-2.42718892e-01 9.70020543e-01 -1.21526107e-02 -2.60772437e+01] [-5.34176373e-02 -8.55872885e-04 9.98571892e-01 -9.05277418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:-26.08, Z:-9.05 [[ 9.68527963e-01 2.43274244e-01 5.26424482e-02 1.38635555e+02] [-2.42965033e-01 9.69957144e-01 -1.22935390e-02 -2.60832019e+01] [-5.40516201e-02 -8.83637891e-04 9.98537752e-01 -9.05420764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.66, Y:-26.09, Z:-9.06 [[ 9.68616621e-01 2.42960022e-01 5.24620762e-02 1.38662684e+02] [-2.42652601e-01 9.70035916e-01 -1.22489450e-02 -2.60880360e+01] [-5.38661021e-02 -8.65527508e-04 9.98547793e-01 -9.05684580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:-26.09, Z:-9.06 [[ 9.68644343e-01 2.42775923e-01 5.28014033e-02 1.38690015e+02] [-2.42464436e-01 9.70082009e-01 -1.23245077e-02 -2.60942475e+01] [-5.42137851e-02 -8.64397770e-04 9.98528977e-01 -9.05835149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:-26.10, Z:-9.06 [[ 9.68869007e-01 2.41628057e-01 5.39326381e-02 1.38718117e+02] [-2.41301493e-01 9.70368594e-01 -1.25849646e-02 -2.61002438e+01] [-5.53754187e-02 -8.20843957e-04 9.98465267e-01 -9.06024613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:-26.11, Z:-9.06 [[ 9.69040109e-01 2.40935012e-01 5.39591207e-02 1.38745858e+02] [-2.40607200e-01 9.70540934e-01 -1.25885006e-02 -2.61062805e+01] [-5.54025459e-02 -7.84190893e-04 9.98463792e-01 -9.06195311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:-26.11, Z:-9.06 [[ 9.69412501e-01 2.39561131e-01 5.33841540e-02 1.38774604e+02] [-2.39238339e-01 9.70881029e-01 -1.24516539e-02 -2.61118281e+01] [-5.48125947e-02 -7.00747423e-04 9.98496414e-01 -9.06370481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:-26.12, Z:-9.07 [[ 9.69582473e-01 2.38800229e-01 5.37054790e-02 1.38801997e+02] [-2.38472516e-01 9.71068489e-01 -1.25239620e-02 -2.61177410e+01] [-5.51424233e-02 -6.64266644e-04 9.98478278e-01 -9.06631242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:-26.12, Z:-9.07 [[ 9.69816935e-01 2.37930730e-01 5.33299154e-02 1.38830568e+02] [-2.37606470e-01 9.71281932e-01 -1.24328018e-02 -2.61235431e+01] [-5.47565288e-02 -6.13991142e-04 9.98499547e-01 -9.06832301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:-26.13, Z:-9.07 [[ 9.70318260e-01 2.36059241e-01 5.25215129e-02 1.38857988e+02] [-2.35742138e-01 9.71738536e-01 -1.22418444e-02 -2.61286382e+01] [-5.39269785e-02 -5.03048598e-04 9.98544755e-01 -9.07099525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:-26.13, Z:-9.07 [[ 9.70567786e-01 2.34999840e-01 5.26616331e-02 1.38885067e+02] [-2.34679669e-01 9.71995306e-01 -1.22710692e-02 -2.61345962e+01] [-5.40705595e-02 -4.48710202e-04 9.98537016e-01 -9.07385478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:-26.14, Z:-9.08 [[ 9.70832536e-01 2.33914885e-01 5.26119151e-02 1.38913016e+02] [-2.33593914e-01 9.72257000e-01 -1.22560242e-02 -2.61411125e+01] [-5.40191692e-02 -3.91276136e-04 9.98539822e-01 -9.07612943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:-26.15, Z:-9.08 [[ 9.71071251e-01 2.32860144e-01 5.28845765e-02 1.38940306e+02] [-2.32534408e-01 9.72510175e-01 -1.23170160e-02 -2.61475895e+01] [-5.42989309e-02 -3.36783597e-04 9.98524668e-01 -9.07795498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:-26.15, Z:-9.08 [[ 9.71273271e-01 2.31896515e-01 5.34063584e-02 1.38969003e+02] [-2.31563073e-01 9.72740419e-01 -1.24346485e-02 -2.61541825e+01] [-5.48340750e-02 -2.89498773e-04 9.98495438e-01 -9.07935330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:-26.16, Z:-9.08 [[ 9.71277847e-01 2.31912910e-01 5.32517244e-02 1.38996978e+02] [-2.31581489e-01 9.72736510e-01 -1.23974273e-02 -2.61604931e+01] [-5.46750200e-02 -2.90767150e-04 9.98504160e-01 -9.08152969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:-26.17, Z:-9.08 [[ 9.71017935e-01 2.32941849e-01 5.35001372e-02 1.39024994e+02] [-2.32608993e-01 9.72490602e-01 -1.24533260e-02 -2.61666645e+01] [-5.49292814e-02 -3.52210120e-04 9.98490185e-01 -9.08369531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:-26.17, Z:-9.09 [[ 9.70739991e-01 2.33900275e-01 5.43555938e-02 1.39051738e+02] [-2.33558331e-01 9.72260505e-01 -1.26497878e-02 -2.61721295e+01] [-5.58065859e-02 -4.15546856e-04 9.98441512e-01 -9.08562334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:-26.18, Z:-9.09 [[ 9.70348938e-01 2.35440204e-01 5.46886639e-02 1.39078974e+02] [-2.35096711e-01 9.71888702e-01 -1.27234762e-02 -2.61774216e+01] [-5.61469124e-02 -5.10913440e-04 9.98422387e-01 -9.08729996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:-26.18, Z:-9.09 [[ 9.69609498e-01 2.38479870e-01 5.46330694e-02 1.39107647e+02] [-2.38142092e-01 9.71147196e-01 -1.27070080e-02 -2.61823124e+01] [-5.60871178e-02 -6.89597800e-04 9.98425641e-01 -9.09048358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:-26.19, Z:-9.09 [[ 9.69406661e-01 2.39402745e-01 5.41945745e-02 1.39135103e+02] [-2.39071955e-01 9.70920068e-01 -1.26024413e-02 -2.61879233e+01] [-5.56356590e-02 -7.39512368e-04 9.98450863e-01 -9.09280073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.16, Y:-26.19, Z:-9.10 [[ 9.69282506e-01 2.40071527e-01 5.34517160e-02 1.39162874e+02] [-2.39750956e-01 9.70754896e-01 -1.24262159e-02 -2.61933782e+01] [-5.48716956e-02 -7.70586312e-04 9.98493116e-01 -9.09538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.19, Y:-26.20, Z:-9.10 [[ 9.69339200e-01 2.39890660e-01 5.32352088e-02 1.39190368e+02] [-2.39572551e-01 9.70799616e-01 -1.23733009e-02 -2.61977092e+01] [-5.46489595e-02 -7.59769216e-04 9.98505340e-01 -9.09844065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:139.22, Y:-26.20, Z:-9.10 [[ 9.69416617e-01 2.39524633e-01 5.34730972e-02 1.39217296e+02] [-2.39203309e-01 9.70890001e-01 -1.24250933e-02 -2.62021144e+01] [-5.48926113e-02 -7.45849941e-04 9.98491985e-01 -9.10092644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-26.21, Z:-9.10 [[ 9.69440681e-01 2.39355144e-01 5.37948025e-02 1.39245246e+02] [-2.39029881e-01 9.70931800e-01 -1.24962017e-02 -2.62074367e+01] [-5.52221146e-02 -7.44238969e-04 9.98473817e-01 -9.10180867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:-26.21, Z:-9.10 [[ 9.69536421e-01 2.38948546e-01 5.38769106e-02 1.39272513e+02] [-2.38621803e-01 9.71031960e-01 -1.25127092e-02 -2.62121236e+01] [-5.53060958e-02 -7.24678276e-04 9.98469184e-01 -9.10413865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:-26.22, Z:-9.11 [[ 9.69707451e-01 2.38221345e-01 5.40189828e-02 1.39299940e+02] [-2.37891953e-01 9.71210645e-01 -1.25420136e-02 -2.62177311e+01] [-5.54515865e-02 -6.88597259e-04 9.98461140e-01 -9.10652052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.33, Y:-26.22, Z:-9.11 [[ 9.69979899e-01 2.37124278e-01 5.39543508e-02 1.39327963e+02] [-2.36794214e-01 9.71479120e-01 -1.25227388e-02 -2.62229412e+01] [-5.53849706e-02 -6.29273197e-04 9.98464876e-01 -9.10919284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:-26.23, Z:-9.11 [[ 9.70773031e-01 2.33593731e-01 5.50789513e-02 1.39355663e+02] [-2.33244227e-01 9.72334189e-01 -1.27810404e-02 -2.62277730e+01] [-5.65407184e-02 -4.39358096e-04 9.98400197e-01 -9.10987713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:-26.23, Z:-9.11 [[ 9.71211737e-01 2.31570739e-01 5.58816142e-02 1.39383945e+02] [-2.31207832e-01 9.72818012e-01 -1.29635858e-02 -2.62342119e+01] [-5.73646280e-02 -3.29880180e-04 9.98353239e-01 -9.11179844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:-26.24, Z:-9.11 [[ 9.72271523e-01 2.26856362e-01 5.67827233e-02 1.39411076e+02] [-2.26473768e-01 9.73928225e-01 -1.31698306e-02 -2.62395540e+01] [-5.82899568e-02 -5.51460834e-05 9.98299693e-01 -9.11357539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-26.25, Z:-9.12 [[ 9.72775861e-01 2.24465498e-01 5.76399599e-02 1.39440435e+02] [-2.24067295e-01 9.74482033e-01 -1.33646800e-02 -2.62459588e+01] [-5.91690148e-02 8.56082389e-05 9.98247975e-01 -9.11539756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:-26.25, Z:-9.12 [[ 9.73218582e-01 2.22419208e-01 5.80972188e-02 1.39468192e+02] [-2.22011100e-01 9.74951102e-01 -1.34692114e-02 -2.62531104e+01] [-5.96377588e-02 2.10259329e-04 9.98220063e-01 -9.11749675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:139.50, Y:-26.26, Z:-9.12 [[ 9.73503122e-01 2.21219927e-01 5.79086772e-02 1.39495939e+02] [-2.20812447e-01 9.75223905e-01 -1.34237981e-02 -2.62614531e+01] [-5.94435379e-02 2.81152596e-04 9.98231630e-01 -9.12076337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:-26.27, Z:-9.12 [[ 9.73741001e-01 2.20447559e-01 5.68448461e-02 1.39524393e+02] [-2.20062800e-01 9.75398813e-01 -1.30199437e-02 -2.62710991e+01] [-5.83166103e-02 1.68617028e-04 9.98298124e-01 -9.12145362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05264000000003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:139.55, Y:-26.28, Z:-9.13 [[ 9.73661305e-01 2.20934208e-01 5.63181903e-02 1.39552015e+02] [-2.20539983e-01 9.75288619e-01 -1.31994914e-02 -2.62765332e+01] [-5.78427092e-02 4.31421319e-04 9.98325616e-01 -9.12517212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.58, Y:-26.28, Z:-9.13 [[ 9.73372143e-01 2.22277622e-01 5.60297331e-02 1.39581037e+02] [-2.21898217e-01 9.74983393e-01 -1.29832327e-02 -2.62830982e+01] [-5.75139414e-02 2.04619133e-04 9.98344682e-01 -9.12671331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.61, Y:-26.29, Z:-9.13 [[ 9.73247300e-01 2.22711735e-01 5.64727851e-02 1.39610292e+02] [-2.22327114e-01 9.74884327e-01 -1.30844582e-02 -2.62898310e+01] [-5.79684955e-02 1.78982313e-04 9.98318397e-01 -9.12840220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:-26.30, Z:-9.13 [[ 9.73221388e-01 2.22635944e-01 5.72133503e-02 1.39638309e+02] [-2.22241110e-01 9.74901637e-01 -1.32546784e-02 -2.62968398e+01] [-5.87283567e-02 1.84578031e-04 9.98273983e-01 -9.12889017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:-26.30, Z:-9.13 [[ 9.73262360e-01 2.22387400e-01 5.74823745e-02 1.39666395e+02] [-2.21988540e-01 9.74958361e-01 -1.33147810e-02 -2.63037194e+01] [-5.90039611e-02 1.98346837e-04 9.98257729e-01 -9.13104813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:-26.31, Z:-9.13 [[ 9.73292519e-01 2.22123419e-01 5.79901581e-02 1.39694971e+02] [-2.21717139e-01 9.75018534e-01 -1.34301607e-02 -2.63106799e+01] [-5.95246321e-02 2.14062992e-04 9.98226814e-01 -9.13275756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:-26.32, Z:-9.13 [[ 9.73294682e-01 2.21905978e-01 5.87809431e-02 1.39722513e+02] [-2.21488219e-01 9.75068041e-01 -1.36119208e-02 -2.63168283e+01] [-6.03359857e-02 2.29123737e-04 9.98178099e-01 -9.13444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:-26.32, Z:-9.14 [[ 9.73204768e-01 2.21864993e-01 6.04020249e-02 1.39751274e+02] [-2.21423919e-01 9.75077366e-01 -1.39849514e-02 -2.63233546e+01] [-6.19994184e-02 2.35768302e-04 9.98076158e-01 -9.13658923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:-26.33, Z:-9.14 [[ 9.73225594e-01 2.21600500e-01 6.10340981e-02 1.39779860e+02] [-2.21149729e-01 9.75137505e-01 -1.41295206e-02 -2.63304417e+01] [-6.26477470e-02 2.53536867e-04 9.98035668e-01 -9.13861879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:-26.34, Z:-9.14 [[ 9.73489596e-01 2.20584156e-01 6.05031936e-02 1.39809328e+02] [-2.20174466e-01 9.75367917e-01 -1.34398982e-02 -2.63397702e+01] [-6.19775026e-02 -2.37657317e-04 9.98077518e-01 -9.14134060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:-26.35, Z:-9.14 [[ 9.73722508e-01 2.19599664e-01 6.03362594e-02 1.39838913e+02] [-2.19246726e-01 9.75589489e-01 -1.24908767e-02 -2.63483601e+01] [-6.16064129e-02 -1.06587956e-03 9.98099952e-01 -9.14433399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:-26.35, Z:-9.15 [[ 9.74149953e-01 2.18149969e-01 5.86724898e-02 1.39868655e+02] [-2.17606107e-01 9.75912277e-01 -1.55823276e-02 -2.63540187e+01] [-6.06584874e-02 2.41203162e-03 9.98155664e-01 -9.14613384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-26.37, Z:-9.15 [[ 9.74862655e-01 2.15100681e-01 5.80904486e-02 1.39896861e+02] [-2.14680144e-01 9.76591662e-01 -1.34596297e-02 -2.63650656e+01] [-5.96258233e-02 6.50424418e-04 9.98220586e-01 -9.14850398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-26.37, Z:-9.15 [[ 9.75181998e-01 2.13890884e-01 5.71905732e-02 1.39926854e+02] [-2.13481003e-01 9.76857296e-01 -1.32546185e-02 -2.63740153e+01] [-5.87020708e-02 7.16564452e-04 9.98275289e-01 -9.15006795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:-26.39, Z:-9.15 [[ 9.75221269e-01 2.13145082e-01 5.92676139e-02 1.39955656e+02] [-2.13022175e-01 9.77010755e-01 -8.45794155e-03 -2.63851796e+01] [-5.97078648e-02 -4.37695151e-03 9.98206298e-01 -9.15320581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:139.99, Y:-26.39, Z:-9.16 [[ 9.75345622e-01 2.13666034e-01 5.52063796e-02 1.39987035e+02] [-2.12985610e-01 9.76889577e-01 -1.79968130e-02 -2.63886282e+01] [-5.77758445e-02 5.79494832e-03 9.98312762e-01 -9.15586839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:-26.40, Z:-9.16 [[ 9.75134956e-01 2.14441843e-01 5.59152371e-02 1.40016734e+02] [-2.14050749e-01 9.76736528e-01 -1.29627235e-02 -2.64015326e+01] [-5.73942049e-02 6.71706422e-04 9.98351368e-01 -9.15644918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-26.41, Z:-9.16 [[ 9.74153940e-01 2.18613889e-01 5.68512824e-02 1.40044009e+02] [-2.18272463e-01 9.75811312e-01 -1.22235855e-02 -2.64116925e+01] [-5.81483700e-02 -5.01415432e-04 9.98307826e-01 -9.15832507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.08, Y:-26.42, Z:-9.16 [[ 9.73567854e-01 2.21225076e-01 5.67899639e-02 1.40075127e+02] [-2.20781743e-01 9.75222117e-01 -1.40443841e-02 -2.64176558e+01] [-5.84897987e-02 1.13497366e-03 9.98287361e-01 -9.16096744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:-26.43, Z:-9.16 [[ 9.72881944e-01 2.24138718e-01 5.71188025e-02 1.40104908e+02] [-2.23745848e-01 9.74557243e-01 -1.32656117e-02 -2.64257761e+01] [-5.86388799e-02 1.25779231e-04 9.98279252e-01 -9.16174035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:-26.43, Z:-9.16 [[ 9.71589830e-01 2.29625024e-01 5.73197176e-02 1.40134021e+02] [-2.29238858e-01 9.73279151e-01 -1.33131338e-02 -2.64339542e+01] [-5.88451148e-02 -2.05001185e-04 9.98267104e-01 -9.16364603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-26.44, Z:-9.17 [[ 9.70697563e-01 2.32927495e-01 5.90848836e-02 1.40161153e+02] [-2.32666817e-01 9.72490273e-01 -1.13499705e-02 -2.64413878e+01] [-6.01031948e-02 -2.72970303e-03 9.98188436e-01 -9.16571654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-26.45, Z:-9.17 [[ 9.70695329e-01 2.33057168e-01 5.86083148e-02 1.40189769e+02] [-2.32666031e-01 9.72462894e-01 -1.35069417e-02 -2.64467120e+01] [-6.01423011e-02 -5.25038715e-04 9.98189675e-01 -9.16775254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:140.22, Y:-26.45, Z:-9.17 [[ 9.70027313e-01 2.35856227e-01 5.84709554e-02 1.40220447e+02] [-2.35329016e-01 9.71786630e-01 -1.58429793e-02 -2.64509514e+01] [-6.05579580e-02 1.60821016e-03 9.98163387e-01 -9.17138007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:-26.46, Z:-9.17 [[ 9.68814978e-01 2.40504166e-01 5.96262111e-02 1.40249130e+02] [-2.40106429e-01 9.70647695e-01 -1.38548164e-02 -2.64593233e+01] [-6.12081854e-02 -8.93882948e-04 9.98124621e-01 -9.17234315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:-26.47, Z:-9.17 [[ 9.68232285e-01 2.42406576e-01 6.13619931e-02 1.40275444e+02] [-2.42152870e-01 9.70168154e-01 -1.16507697e-02 -2.64674493e+01] [-6.23556748e-02 -3.57833137e-03 9.98047577e-01 -9.17466089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:-26.47, Z:-9.18 [[ 9.67779259e-01 2.44517004e-01 6.01227104e-02 1.40304564e+02] [-2.43959284e-01 9.69644050e-01 -1.65615123e-02 -2.64687793e+01] [-6.23471998e-02 1.36039479e-03 9.98053594e-01 -9.17592776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:-26.48, Z:-9.18 [[ 9.67652373e-01 2.44890077e-01 6.06443311e-02 1.40332877e+02] [-2.44487911e-01 9.69550105e-01 -1.40803355e-02 -2.64755286e+01] [-6.22458520e-02 -1.20193578e-03 9.98060123e-01 -9.17817533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:-26.48, Z:-9.18 [[ 9.67573650e-01 2.45215610e-01 6.05849597e-02 1.40360524e+02] [-2.44814960e-01 9.69467797e-01 -1.40650749e-02 -2.64811320e+01] [-6.21841433e-02 -1.22310864e-03 9.98063944e-01 -9.18024205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.39, Y:-26.49, Z:-9.18 [[ 9.67605699e-01 2.45207479e-01 6.01041030e-02 1.40388491e+02] [-2.44813290e-01 9.69469863e-01 -1.39512378e-02 -2.64858715e+01] [-6.16900644e-02 -1.21498605e-03 9.98094615e-01 -9.18456766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:-26.49, Z:-9.19 [[ 9.67766064e-01 2.44757480e-01 5.93516818e-02 1.40416610e+02] [-2.44372436e-01 9.69583621e-01 -1.37737029e-02 -2.64912031e+01] [-6.09176354e-02 -1.17419284e-03 9.98142106e-01 -9.18531534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:-26.50, Z:-9.19 [[ 9.67917611e-01 2.44291277e-01 5.87985536e-02 1.40445970e+02] [-2.43912707e-01 9.69701232e-01 -1.36422907e-02 -2.64968054e+01] [-6.03497224e-02 -1.13710091e-03 9.98176647e-01 -9.18759228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.47, Y:-26.50, Z:-9.19 [[ 9.68117360e-01 2.43537885e-01 5.86351044e-02 1.40474503e+02] [-2.43160124e-01 9.69890774e-01 -1.36029496e-02 -2.65018744e+01] [-6.01824804e-02 -1.08846759e-03 9.98186798e-01 -9.19176376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:-26.51, Z:-9.19 [[ 9.68379710e-01 2.42610181e-01 5.81466931e-02 1.40503888e+02] [-2.42237161e-01 9.70123317e-01 -1.34872992e-02 -2.65070706e+01] [-5.96816189e-02 -1.02446297e-03 9.98216938e-01 -9.19174123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:-26.51, Z:-9.19 [[ 9.68809832e-01 2.40830094e-01 5.83812941e-02 1.40531681e+02] [-2.40450897e-01 9.70566855e-01 -1.35405340e-02 -2.65098997e+01] [-5.99239171e-02 -9.19632058e-04 9.98202524e-01 -9.19458630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-26.52, Z:-9.20 [[ 9.69075342e-01 2.39735890e-01 5.84780633e-02 1.40560191e+02] [-2.39353688e-01 9.70837766e-01 -1.35589080e-02 -2.65151832e+01] [-6.00232692e-02 -8.57336695e-04 9.98196610e-01 -9.19617423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:-26.53, Z:-9.20 [[ 9.69150519e-01 2.38057765e-01 6.38417828e-02 1.40585224e+02] [-2.38322487e-01 9.71179596e-01 -3.54755078e-03 -2.65256307e+01] [-6.28463588e-02 -1.17768218e-02 9.97953727e-01 -9.19965165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.62, Y:-26.52, Z:-9.20 [[ 9.69626272e-01 2.37888514e-01 5.68677981e-02 1.40616549e+02] [-2.36846855e-01 9.71237962e-01 -2.45028401e-02 -2.65174944e+01] [-6.10611085e-02 1.02896384e-02 9.98080991e-01 -9.20183379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:-26.53, Z:-9.20 [[ 9.70161603e-01 2.34939391e-01 5.99161629e-02 1.40643194e+02] [-2.34529770e-01 9.72009845e-01 -1.38797830e-02 -2.65267206e+01] [-6.15000080e-02 -5.86491420e-04 9.98106911e-01 -9.20183534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:-26.53, Z:-9.20 [[ 9.70285567e-01 2.34271397e-01 6.05213281e-02 1.40671898e+02] [-2.33852395e-01 9.72171079e-01 -1.40161117e-02 -2.65317439e+01] [-6.21206589e-02 -5.53426595e-04 9.98068493e-01 -9.20348310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-26.54, Z:-9.21 [[ 9.70291267e-01 2.34111294e-01 6.10471884e-02 1.40700681e+02] [-2.33684861e-01 9.72209647e-01 -1.41346230e-02 -2.65364845e+01] [-6.26597404e-02 -5.51102422e-04 9.98034796e-01 -9.20506325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:-26.54, Z:-9.21 [[ 9.70110239e-01 2.34784000e-01 6.13400199e-02 1.40730132e+02] [-2.34354952e-01 9.72047382e-01 -1.42000978e-02 -2.65382284e+01] [-6.29593616e-02 -5.99677128e-04 9.98015911e-01 -9.20693457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:-26.54, Z:-9.21 [[ 9.69963230e-01 2.35376474e-01 6.13942024e-02 1.40759080e+02] [-2.34948045e-01 9.71904061e-01 -1.42095819e-02 -2.65424507e+01] [-6.30138759e-02 -6.41675831e-04 9.98012445e-01 -9.20895079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:-26.54, Z:-9.21 [[ 9.69767934e-01 2.36285298e-01 6.09869874e-02 1.40787923e+02] [-2.35864522e-01 9.71683472e-01 -1.41123427e-02 -2.65441858e+01] [-6.25945867e-02 -6.98969189e-04 9.98038791e-01 -9.21192932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:-26.55, Z:-9.21 [[ 9.69800637e-01 2.36251076e-01 6.05982970e-02 1.40816141e+02] [-2.35835769e-01 9.71691796e-01 -1.40194270e-02 -2.65481420e+01] [-6.21949727e-02 -6.95196754e-04 9.98063777e-01 -9.21454303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-26.55, Z:-9.22 [[ 9.69993265e-01 2.35545257e-01 6.02619121e-02 1.40843222e+02] [-2.35133354e-01 9.71863165e-01 -1.39389750e-02 -2.65519228e+01] [-6.18495920e-02 -6.48873647e-04 9.98085270e-01 -9.21640635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:-26.55, Z:-9.22 [[ 9.70521425e-01 2.33123275e-01 6.11694533e-02 1.40871962e+02] [-2.32694492e-01 9.72447058e-01 -1.41419014e-02 -2.65547051e+01] [-6.27808613e-02 -5.08776539e-04 9.98027206e-01 -9.21859322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:140.90, Y:-26.56, Z:-9.22 [[ 9.70790531e-01 2.31862077e-01 6.16905300e-02 1.40900620e+02] [-2.31423608e-01 9.72748574e-01 -1.42592080e-02 -2.65594180e+01] [-6.33155447e-02 -4.33940868e-04 9.97993464e-01 -9.22287860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-26.56, Z:-9.22 [[ 9.71268753e-01 2.30015795e-01 6.10716310e-02 1.40928614e+02] [-2.29582631e-01 9.73186845e-01 -1.41131058e-02 -2.65641569e+01] [-6.26803452e-02 -3.13367071e-04 9.98033605e-01 -9.22212665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-26.57, Z:-9.22 [[ 9.72065835e-01 2.26565331e-01 6.12875408e-02 1.40957509e+02] [-2.26122492e-01 9.73995966e-01 -1.41589788e-02 -2.65675413e+01] [-6.29017513e-02 -9.50319681e-05 9.98019720e-01 -9.22479768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:-26.57, Z:-9.23 [[ 9.72476094e-01 2.24838714e-01 6.11375467e-02 1.40984545e+02] [-2.24394821e-01 9.74395994e-01 -1.41213342e-02 -2.65724569e+01] [-6.27472032e-02 1.37110679e-05 9.98029453e-01 -9.22683950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:-26.58, Z:-9.23 [[ 9.73205874e-01 2.21840791e-01 6.04730582e-02 1.41012684e+02] [-2.21400951e-01 9.75082880e-01 -1.39640826e-02 -2.65779625e+01] [-6.20640469e-02 2.01134543e-04 9.98072149e-01 -9.22993032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-26.58, Z:-9.23 [[ 9.73457540e-01 2.20816931e-01 6.01689424e-02 1.41040686e+02] [-2.20379746e-01 9.75315238e-01 -1.38907569e-02 -2.65839998e+01] [-6.17510007e-02 2.62045769e-04 9.98091552e-01 -9.23223721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:-26.59, Z:-9.23 [[ 9.73650871e-01 2.20042511e-01 5.98771701e-02 1.41067551e+02] [-2.19608282e-01 9.75490235e-01 -1.38203915e-02 -2.65904141e+01] [-6.14506684e-02 3.06713756e-04 9.98110075e-01 -9.23469109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:-26.60, Z:-9.24 [[ 9.73692427e-01 2.19926950e-01 5.96254555e-02 1.41095270e+02] [-2.19496392e-01 9.75516295e-01 -1.37583661e-02 -2.65965190e+01] [-6.11914389e-02 3.08844560e-04 9.98126000e-01 -9.23674976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.12, Y:-26.60, Z:-9.24 [[ 9.73376760e-01 2.21319153e-01 5.96281529e-02 1.41122790e+02] [-2.20891346e-01 9.75201407e-01 -1.37560286e-02 -2.66001209e+01] [-6.11939312e-02 2.18455632e-04 9.98125871e-01 -9.24182493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-26.61, Z:-9.24 [[ 9.73262848e-01 2.21958133e-01 5.91102024e-02 1.41150898e+02] [-2.21539164e-01 9.75056182e-01 -1.36323582e-02 -2.66052277e+01] [-6.06615810e-02 1.72642911e-04 9.98158376e-01 -9.24220807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:-26.61, Z:-9.24 [[ 9.72930913e-01 2.23571177e-01 5.84924513e-02 1.41179046e+02] [-2.23164016e-01 9.74687603e-01 -1.34869550e-02 -2.66093642e+01] [-6.00271616e-02 6.84651383e-05 9.98196742e-01 -9.24486666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-26.61, Z:-9.25 [[ 9.72767028e-01 2.24304216e-01 5.84117174e-02 1.41207281e+02] [-2.23899678e-01 9.74519173e-01 -1.34653586e-02 -2.66145366e+01] [-5.99436752e-02 2.02920986e-05 9.98201761e-01 -9.24680400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.23, Y:-26.62, Z:-9.25 [[ 9.72406370e-01 2.25601514e-01 5.94121974e-02 1.41234398e+02] [-2.25185591e-01 9.74219664e-01 -1.36929451e-02 -2.66191335e+01] [-6.09696801e-02 -6.36637346e-05 9.98139617e-01 -9.25094604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-26.63, Z:-9.25 [[ 9.72511842e-01 2.25087440e-01 5.96352354e-02 1.41262925e+02] [-2.24667662e-01 9.74338567e-01 -1.37403997e-02 -2.66254628e+01] [-6.11977012e-02 -3.54074602e-05 9.98125663e-01 -9.25083338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.29, Y:-26.63, Z:-9.26 [[ 9.72472453e-01 2.25090046e-01 6.02644105e-02 1.41289758e+02] [-2.24661550e-01 9.74337965e-01 -1.38822930e-02 -2.66312495e+01] [-6.18426690e-02 -3.89483508e-05 9.98085910e-01 -9.25509678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:-26.64, Z:-9.25 [[ 9.72905640e-01 2.23208961e-01 6.02691875e-02 1.41317153e+02] [-2.22777030e-01 9.74770616e-01 -1.38795116e-02 -2.66357404e+01] [-6.18466644e-02 7.68645297e-05 9.98085660e-01 -9.25446500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:-26.64, Z:-9.26 [[ 9.73169784e-01 2.22035357e-01 6.03396334e-02 1.41344988e+02] [-2.21600399e-01 9.75038603e-01 -1.38919069e-02 -2.66421487e+01] [-6.19179664e-02 1.47897214e-04 9.98081231e-01 -9.25685332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:-26.65, Z:-9.26 [[ 9.73847682e-01 2.19337770e-01 5.92590472e-02 1.41372195e+02] [-2.18913450e-01 9.75648936e-01 -1.36402168e-02 -2.66502166e+01] [-6.08078410e-02 3.10891086e-04 9.98149443e-01 -9.25953951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:-26.66, Z:-9.26 [[ 9.74149911e-01 2.17980575e-01 5.92994088e-02 1.41398993e+02] [-2.17553341e-01 9.75953029e-01 -1.36465879e-02 -2.66564507e+01] [-6.08481287e-02 3.93037925e-04 9.98146959e-01 -9.26195565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03264000000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.43, Y:-26.66, Z:-9.27 [[ 9.74376392e-01 2.16840291e-01 5.97572941e-02 1.41427374e+02] [-2.16404545e-01 9.76206983e-01 -1.37477046e-02 -2.66625810e+01] [-6.13165441e-02 4.63688700e-04 9.98118263e-01 -9.26612460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:-26.67, Z:-9.27 [[ 9.74662882e-01 2.15548636e-01 5.97582716e-02 1.41454172e+02] [-2.15110633e-01 9.76492955e-01 -1.37449534e-02 -2.66690031e+01] [-6.13162372e-02 5.42056277e-04 9.98118242e-01 -9.26566101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:-26.68, Z:-9.27 [[ 9.74959517e-01 2.14028827e-01 6.03788162e-02 1.41482139e+02] [-2.13579006e-01 9.76827135e-01 -1.38837041e-02 -2.66756201e+01] [-6.19511789e-02 6.40401941e-04 9.98078975e-01 -9.26755745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-26.68, Z:-9.27 [[ 9.74987211e-01 2.13758350e-01 6.08876475e-02 1.41508665e+02] [-2.13300573e-01 9.76886346e-01 -1.39976190e-02 -2.66818902e+01] [-6.24724194e-02 6.60129415e-04 9.98046472e-01 -9.26960349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-26.69, Z:-9.27 [[ 9.74987974e-01 2.13694202e-01 6.11002312e-02 1.41535473e+02] [-2.13233340e-01 9.76900378e-01 -1.40425849e-02 -2.66886281e+01] [-6.26896579e-02 6.62745087e-04 9.98032849e-01 -9.27203254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.56, Y:-26.70, Z:-9.28 [[ 9.74851663e-01 2.14518813e-01 6.03814033e-02 1.41563532e+02] [-2.14070552e-01 9.76719673e-01 -1.38736641e-02 -2.66963238e+01] [-6.19518665e-02 5.98884207e-04 9.98078959e-01 -9.27516677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-26.70, Z:-9.28 [[ 9.74748331e-01 2.15077137e-01 6.00626035e-02 1.41590752e+02] [-2.14634838e-01 9.76596905e-01 -1.37975417e-02 -2.67036865e+01] [-6.16244885e-02 5.57603589e-04 9.98099249e-01 -9.27642726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:-26.71, Z:-9.28 [[ 9.74590369e-01 2.16162706e-01 5.87136940e-02 1.41617481e+02] [-2.15742248e-01 9.76357240e-01 -1.34841869e-02 -2.67120208e+01] [-6.02403185e-02 4.74534297e-04 9.98183790e-01 -9.27859143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:-26.72, Z:-9.28 [[ 9.74541722e-01 2.16687492e-01 5.75757186e-02 1.41645786e+02] [-2.16284331e-01 9.76240926e-01 -1.32190019e-02 -2.67190546e+01] [-5.90721652e-02 4.29743054e-04 9.98253622e-01 -9.28098363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.67, Y:-26.73, Z:-9.29 [[ 9.74432233e-01 2.17414417e-01 5.66815104e-02 1.41674174e+02] [-2.17025086e-01 9.76079315e-01 -1.30108856e-02 -2.67253423e+01] [-5.81544039e-02 3.76916705e-04 9.98307529e-01 -9.28524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:-26.73, Z:-9.29 [[ 9.74223139e-01 2.18552286e-01 5.58943065e-02 1.41701802e+02] [-2.18175734e-01 9.75825193e-01 -1.28273802e-02 -2.67325613e+01] [-5.73465257e-02 3.01949222e-04 9.98354288e-01 -9.28630432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:-26.74, Z:-9.29 [[ 9.74093486e-01 2.19032019e-01 5.62748257e-02 1.41728512e+02] [-2.18651276e-01 9.75717633e-01 -1.29119786e-02 -2.67395495e+01] [-5.77364765e-02 2.72911772e-04 9.98331821e-01 -9.28862455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:-26.75, Z:-9.29 [[ 9.73979024e-01 2.19492135e-01 5.64629428e-02 1.41755853e+02] [-2.19109849e-01 9.75614239e-01 -1.29510734e-02 -2.67468184e+01] [-5.79287098e-02 2.42486938e-04 9.98320693e-01 -9.29066657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:-26.75, Z:-9.29 [[ 9.73629565e-01 2.20875651e-01 5.70912974e-02 1.41784010e+02] [-2.20487350e-01 9.75301964e-01 -1.30922363e-02 -2.67541504e+01] [-5.85730107e-02 1.59079471e-04 9.98283115e-01 -9.29253017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.81, Y:-26.76, Z:-9.30 [[ 9.73427428e-01 2.21787382e-01 5.70034979e-02 1.41811271e+02] [-2.21402002e-01 9.75095045e-01 -1.30693128e-02 -2.67612552e+01] [-5.84824370e-02 1.01339016e-04 9.98288432e-01 -9.29584412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:-26.77, Z:-9.30 [[ 9.73124013e-01 2.23316368e-01 5.62090304e-02 1.41838957e+02] [-2.22944421e-01 9.74746018e-01 -1.28835210e-02 -2.67697674e+01] [-5.76666297e-02 5.77388810e-06 9.98335895e-01 -9.29716088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:-26.78, Z:-9.30 [[ 9.72976079e-01 2.23968536e-01 5.61751242e-02 1.41866972e+02] [-2.23598288e-01 9.74596375e-01 -1.28729157e-02 -2.67763284e+01] [-5.76312005e-02 -3.56225371e-05 9.98337941e-01 -9.29935414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.89, Y:-26.78, Z:-9.30 [[ 9.72872658e-01 2.24437095e-01 5.60961778e-02 1.41894607e+02] [-2.24068830e-01 9.74488577e-01 -1.28519728e-02 -2.67827161e+01] [-5.75495439e-02 -6.60719522e-05 9.98342649e-01 -9.30258301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-26.79, Z:-9.30 [[ 9.72764672e-01 2.24622916e-01 5.72139724e-02 1.41920658e+02] [-2.24240309e-01 9.74445760e-01 -1.31051396e-02 -2.67919325e+01] [-5.86956275e-02 -8.14620043e-05 9.98275922e-01 -9.30414649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:-26.80, Z:-9.31 [[ 9.72686372e-01 2.24968148e-01 5.71887558e-02 1.41948111e+02] [-2.24586699e-01 9.74366112e-01 -1.30955516e-02 -2.68002445e+01] [-5.86688677e-02 -1.05969345e-04 9.98277493e-01 -9.30587963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:-26.81, Z:-9.31 [[ 9.72704814e-01 2.24888250e-01 5.71893270e-02 1.41976651e+02] [-2.24506809e-01 9.74384557e-01 -1.30930570e-02 -2.68066742e+01] [-5.86688717e-02 -1.03713784e-04 9.98277493e-01 -9.30787896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:-26.81, Z:-9.31 [[ 9.72577735e-01 2.25428818e-01 5.72223534e-02 1.42004659e+02] [-2.25048182e-01 9.74259631e-01 -1.30953451e-02 -2.68140665e+01] [-5.87014970e-02 -1.41545476e-04 9.98275570e-01 -9.31026066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-26.82, Z:-9.31 [[ 9.72222864e-01 2.26933089e-01 5.73068562e-02 1.42031177e+02] [-2.26554104e-01 9.73910323e-01 -1.31118389e-02 -2.68202891e+01] [-5.87872490e-02 -2.35473859e-04 9.98270506e-01 -9.31259727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-26.83, Z:-9.31 [[ 9.72030341e-01 2.27814096e-01 5.70767386e-02 1.42059103e+02] [-2.27439890e-01 9.73704602e-01 -1.30554169e-02 -2.68276006e+01] [-5.85500910e-02 -2.91265745e-04 9.98284429e-01 -9.31447377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:142.09, Y:-26.83, Z:-9.32 [[ 9.71595117e-01 2.29655009e-01 5.71095965e-02 1.42087184e+02] [-2.29283713e-01 9.73272014e-01 -1.30601064e-02 -2.68348572e+01] [-5.85824909e-02 -4.05164681e-04 9.98282489e-01 -9.31822134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:-26.84, Z:-9.32 [[ 9.71368013e-01 2.30521611e-01 5.74801785e-02 1.42114505e+02] [-2.30147160e-01 9.73067096e-01 -1.31420073e-02 -2.68405764e+01] [-5.89615870e-02 -4.63174323e-04 9.98260145e-01 -9.31797482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:-26.85, Z:-9.32 [[ 9.71102343e-01 2.31684142e-01 5.72948295e-02 1.42142020e+02] [-2.31314334e-01 9.72790919e-01 -1.30960891e-02 -2.68461844e+01] [-5.87700460e-02 -5.35472548e-04 9.98271403e-01 -9.32041366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:142.17, Y:-26.85, Z:-9.32 [[ 9.70938397e-01 2.32652759e-01 5.61366548e-02 1.42169845e+02] [-2.32299626e-01 9.72559690e-01 -1.28270632e-02 -2.68521916e+01] [-5.75804992e-02 -5.86235694e-04 9.98340695e-01 -9.32421826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-26.86, Z:-9.32 [[ 9.70640377e-01 2.33912250e-01 5.60563849e-02 1.42197565e+02] [-2.33562391e-01 9.72257487e-01 -1.28058363e-02 -2.68583441e+01] [-5.74966819e-02 -6.62801525e-04 9.98345477e-01 -9.32428632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:-26.86, Z:-9.33 [[ 9.70593144e-01 2.34082716e-01 5.61625417e-02 1.42225256e+02] [-2.33731974e-01 9.72216449e-01 -1.28273154e-02 -2.68634559e+01] [-5.76047997e-02 -6.76877386e-04 9.98339235e-01 -9.32661133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-26.87, Z:-9.33 [[ 9.70762854e-01 2.33460426e-01 5.58185508e-02 1.42252258e+02] [-2.33113121e-01 9.72366094e-01 -1.27456656e-02 -2.68681228e+01] [-5.72516748e-02 -6.39017826e-04 9.98359573e-01 -9.32888036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.28, Y:-26.87, Z:-9.33 [[ 9.71374755e-01 2.30862039e-01 5.59803922e-02 1.42280689e+02] [-2.30508779e-01 9.72986369e-01 -1.27760601e-02 -2.68737723e+01] [-5.74176659e-02 -4.93629650e-04 9.98350123e-01 -9.33278279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:-26.88, Z:-9.33 [[ 9.71881526e-01 2.28550343e-01 5.66660382e-02 1.42308277e+02] [-2.28184604e-01 9.73532027e-01 -1.29297525e-02 -2.68799630e+01] [-5.81213024e-02 -3.64129923e-04 9.98309462e-01 -9.33311833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:-26.89, Z:-9.34 [[ 9.73284200e-01 2.22312721e-01 5.74014025e-02 1.42335799e+02] [-2.21926811e-01 9.74975412e-01 -1.30933605e-02 -2.68864880e+01] [-5.88757766e-02 4.65064699e-06 9.98265317e-01 -9.33528882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.36, Y:-26.89, Z:-9.34 [[ 9.74087983e-01 2.18690728e-01 5.76798713e-02 1.42364306e+02] [-2.18294898e-01 9.75794198e-01 -1.31537511e-02 -2.68931023e+01] [-5.91602872e-02 2.21689283e-04 9.98248472e-01 -9.33866368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:-26.90, Z:-9.34 [[ 9.74818543e-01 2.15270849e-01 5.82002621e-02 1.42391781e+02] [-2.14861829e-01 9.76554287e-01 -1.32709963e-02 -2.69001530e+01] [-5.96925741e-02 4.31798524e-04 9.98216715e-01 -9.33954318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:142.42, Y:-26.91, Z:-9.34 [[ 9.76191117e-01 2.08922370e-01 5.83296328e-02 1.42419582e+02] [-2.08500339e-01 9.77931885e-01 -1.32980115e-02 -2.69085687e+01] [-5.98206598e-02 8.19652451e-04 9.98208804e-01 -9.34412869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-26.92, Z:-9.34 [[ 9.76896339e-01 2.05584752e-01 5.83819502e-02 1.42449319e+02] [-2.05156074e-01 9.78638780e-01 -1.33087915e-02 -2.69173421e+01] [-5.98709251e-02 1.02389795e-03 9.98205602e-01 -9.34380862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:-26.93, Z:-9.35 [[ 9.77414872e-01 2.03050326e-01 5.85724610e-02 1.42479773e+02] [-2.02614220e-01 9.79167587e-01 -1.33534735e-02 -2.69257680e+01] [-6.00636825e-02 1.18427010e-03 9.98193845e-01 -9.34616322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-26.94, Z:-9.35 [[ 9.78220537e-01 1.99225647e-01 5.82556635e-02 1.42509440e+02] [-1.98786888e-01 9.79952612e-01 -1.32910165e-02 -2.69371574e+01] [-5.97357009e-02 1.42108324e-03 9.98213217e-01 -9.34860991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.54, Y:-26.95, Z:-9.35 [[ 9.78467954e-01 1.98120023e-01 5.78698453e-02 1.42540881e+02] [-1.97684609e-01 9.80176639e-01 -1.32117683e-02 -2.69471983e+01] [-5.93401863e-02 1.48731418e-03 9.98236711e-01 -9.35238262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:-26.96, Z:-9.35 [[ 9.78504091e-01 1.98165491e-01 5.70979954e-02 1.42571275e+02] [-1.97741035e-01 9.80167465e-01 -1.30469627e-02 -2.69578438e+01] [-5.85510552e-02 1.47588964e-03 9.98283324e-01 -9.35291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.60, Y:-26.97, Z:-9.36 [[ 9.78259824e-01 1.99550377e-01 5.64567469e-02 1.42602787e+02] [-1.99137119e-01 9.79886586e-01 -1.29106865e-02 -2.69657063e+01] [-5.78975413e-02 1.38737200e-03 9.98321566e-01 -9.35735329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.63, Y:-26.97, Z:-9.36 [[ 9.77902862e-01 2.01433175e-01 5.59523726e-02 1.42633841e+02] [-2.01029689e-01 9.79501428e-01 -1.28068659e-02 -2.69742002e+01] [-5.73851566e-02 1.27578274e-03 9.98351299e-01 -9.35956742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:-26.98, Z:-9.36 [[ 9.77384952e-01 2.03919278e-01 5.59962850e-02 1.42664541e+02] [-2.03518537e-01 9.78987039e-01 -1.28289726e-02 -2.69830447e+01] [-5.74357121e-02 1.14256273e-03 9.98348553e-01 -9.35957458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.69, Y:-26.99, Z:-9.36 [[ 9.76143452e-01 2.09868594e-01 5.56698762e-02 1.42694344e+02] [-2.09481944e-01 9.77729281e-01 -1.27580851e-02 -2.69932863e+01] [-5.71075894e-02 7.91887325e-04 9.98367716e-01 -9.36349726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:-27.00, Z:-9.36 [[ 9.74558682e-01 2.17218660e-01 5.52397451e-02 1.42722361e+02] [-2.16849642e-01 9.76122904e-01 -1.26613214e-02 -2.70039407e+01] [-5.66710557e-02 3.60481778e-04 9.98392839e-01 -9.36312464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:142.75, Y:-27.01, Z:-9.37 [[ 9.73569705e-01 2.21435909e-01 5.59300272e-02 1.42752303e+02] [-2.21064605e-01 9.75174920e-01 -1.28185514e-02 -2.70106915e+01] [-5.73800474e-02 1.15603906e-04 9.98352401e-01 -9.36703408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:-27.02, Z:-9.37 [[ 9.72536183e-01 2.25743748e-01 5.66845030e-02 1.42781015e+02] [-2.25369596e-01 9.74186707e-01 -1.29924758e-02 -2.70163153e+01] [-5.81542596e-02 -1.39310727e-04 9.98307599e-01 -9.36694100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:-27.02, Z:-9.37 [[ 9.70592275e-01 2.34077056e-01 5.62011334e-02 1.42808219e+02] [-2.33723204e-01 9.72217842e-01 -1.28814728e-02 -2.70205144e+01] [-5.76550019e-02 -6.32851006e-04 9.98336366e-01 -9.36969490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:-27.03, Z:-9.37 [[ 9.69762806e-01 2.37563243e-01 5.58910095e-02 1.42836116e+02] [-2.37219278e-01 9.71371711e-01 -1.28067313e-02 -2.70274372e+01] [-5.73333541e-02 -8.38933228e-04 9.98354738e-01 -9.37184055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:-27.03, Z:-9.37 [[ 9.69081777e-01 2.40364521e-01 5.57261760e-02 1.42863502e+02] [-2.40027358e-01 9.70682177e-01 -1.27663271e-02 -2.70333207e+01] [-5.71609779e-02 -1.00419181e-03 9.98364470e-01 -9.37364334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:-27.04, Z:-9.38 [[ 9.68545797e-01 2.42483190e-01 5.58653863e-02 1.42891056e+02] [-2.42148049e-01 9.70154943e-01 -1.27948802e-02 -2.70376920e+01] [-5.73006241e-02 -1.13526685e-03 9.98356324e-01 -9.37606555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:-27.04, Z:-9.38 [[ 9.67934699e-01 2.45019564e-01 5.53880039e-02 1.42918785e+02] [-2.44694506e-01 9.69517292e-01 -1.26814703e-02 -2.70405902e+01] [-5.68068359e-02 -1.27830511e-03 9.98384370e-01 -9.37886082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-27.05, Z:-9.38 [[ 9.67898507e-01 2.45213763e-01 5.51605920e-02 1.42945784e+02] [-2.44891914e-01 9.69468179e-01 -1.26253625e-02 -2.70461523e+01] [-5.65723514e-02 -1.28831348e-03 9.98397671e-01 -9.38126292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-27.05, Z:-9.38 [[ 9.68014276e-01 2.44862858e-01 5.46858533e-02 1.42973133e+02] [-2.44546204e-01 9.69556904e-01 -1.25125280e-02 -2.70500810e+01] [-5.60849000e-02 -1.26091212e-03 9.98425207e-01 -9.38399329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:-27.05, Z:-9.39 [[ 9.68119825e-01 2.44507017e-01 5.44088565e-02 1.43001989e+02] [-2.44193197e-01 9.69646733e-01 -1.24456830e-02 -2.70546493e+01] [-5.58004268e-02 -1.23736017e-03 9.98441176e-01 -9.38629750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.03, Y:-27.06, Z:-9.39 [[ 9.68142514e-01 2.44409866e-01 5.44416298e-02 1.43030379e+02] [-2.44095670e-01 9.69671229e-01 -1.24503808e-02 -2.70600518e+01] [-5.58334779e-02 -1.23522318e-03 9.98439331e-01 -9.38906777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77264000000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:143.06, Y:-27.06, Z:-9.39 [[ 9.68326266e-01 2.43594368e-01 5.48272481e-02 1.43057598e+02] [-2.43274550e-01 9.69876459e-01 -1.25358533e-02 -2.70647583e+01] [-5.62293205e-02 -1.19927804e-03 9.98417160e-01 -9.39160275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:143.09, Y:-27.07, Z:-9.39 [[ 9.68580692e-01 2.42588382e-01 5.47934400e-02 1.43085163e+02] [-2.42267542e-01 9.70128636e-01 -1.25247202e-02 -2.70691808e+01] [-5.61950368e-02 -1.14346986e-03 9.98419156e-01 -9.39383985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:-27.07, Z:-9.39 [[ 9.69046208e-01 2.40659768e-01 5.50665281e-02 1.43112361e+02] [-2.40332854e-01 9.70608980e-01 -1.25828043e-02 -2.70731210e+01] [-5.64762415e-02 -1.04097709e-03 9.98403401e-01 -9.39436198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:-27.08, Z:-9.40 [[ 9.69610015e-01 2.38322376e-01 5.53069958e-02 1.43139463e+02] [-2.37988996e-01 9.71185674e-01 -1.26342583e-02 -2.70773205e+01] [-5.67243885e-02 -9.12153035e-04 9.98389459e-01 -9.39679803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:-27.08, Z:-9.40 [[ 9.71143267e-01 2.32274223e-01 5.41243037e-02 1.43168391e+02] [-2.31945751e-01 9.72650185e-01 -1.23606538e-02 -2.70806676e+01] [-5.55150753e-02 -5.49936599e-04 9.98457698e-01 -9.39971802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.20, Y:-27.09, Z:-9.40 [[ 9.71996872e-01 2.28822141e-01 5.35024079e-02 1.43195276e+02] [-2.28496087e-01 9.73468184e-01 -1.22161362e-02 -2.70851012e+01] [-5.48782142e-02 -3.51044660e-04 9.98492994e-01 -9.40367637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-27.09, Z:-9.40 [[ 9.73629164e-01 2.21819013e-01 5.33158152e-02 1.43223442e+02] [-2.21484911e-01 9.75087854e-01 -1.21700530e-02 -2.70894987e+01] [-5.46871530e-02 4.04699589e-05 9.98503537e-01 -9.40412345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.25, Y:-27.09, Z:-9.41 [[ 9.74308921e-01 2.18946599e-01 5.27684950e-02 1.43251102e+02] [-2.18615252e-01 9.75736823e-01 -1.20425770e-02 -2.70948128e+01] [-5.41248449e-02 1.97192328e-04 9.98534157e-01 -9.40818980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:-27.10, Z:-9.41 [[ 9.74962758e-01 2.16153737e-01 5.22032870e-02 1.43277984e+02] [-2.15825585e-01 9.76359279e-01 -1.19111180e-02 -2.71000161e+01] [-5.35437964e-02 3.46091482e-04 9.98565442e-01 -9.40863546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:143.31, Y:-27.11, Z:-9.41 [[ 9.75778356e-01 2.12505213e-01 5.19435614e-02 1.43305723e+02] [-2.12175337e-01 9.77159784e-01 -1.18483675e-02 -2.71052334e+01] [-5.32749991e-02 5.40237923e-04 9.98579733e-01 -9.41333900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-27.11, Z:-9.41 [[ 9.76188258e-01 2.10618522e-01 5.19261312e-02 1.43332917e+02] [-2.10286332e-01 9.77568119e-01 -1.18419096e-02 -2.71102462e+01] [-5.32554559e-02 6.40577438e-04 9.98580716e-01 -9.41357518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-27.12, Z:-9.42 [[ 9.76832878e-01 2.07960756e-01 5.04960590e-02 1.43361388e+02] [-2.07643246e-01 9.78136875e-01 -1.15124562e-02 -2.71153999e+01] [-5.17861964e-02 7.60580063e-04 9.98657905e-01 -9.41552759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.39, Y:-27.12, Z:-9.42 [[ 9.77046261e-01 2.06927385e-01 5.06128650e-02 1.43389403e+02] [-2.06607152e-01 9.78355965e-01 -1.15365123e-02 -2.71206215e+01] [-5.19046186e-02 8.14726273e-04 9.98651714e-01 -9.41858960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.42, Y:-27.13, Z:-9.42 [[ 9.77169439e-01 2.06225290e-01 5.10981135e-02 1.43418125e+02] [-2.05898060e-01 9.78504161e-01 -1.16445218e-02 -2.71258839e+01] [-5.24011116e-02 8.57668376e-04 9.98625750e-01 -9.42126024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19264 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:143.45, Y:-27.13, Z:-9.42 [[ 9.77392252e-01 2.05413054e-01 5.00985265e-02 1.43446485e+02] [-2.05097584e-01 9.78674972e-01 -1.14140101e-02 -2.71322308e+01] [-5.13747607e-02 8.80878249e-04 9.98679057e-01 -9.42297650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:143.47, Y:-27.14, Z:-9.42 [[ 9.77404437e-01 2.05460175e-01 4.96657075e-02 1.43473609e+02] [-2.05150272e-01 9.78665091e-01 -1.13139489e-02 -2.71387180e+01] [-5.09306601e-02 8.69370448e-04 9.98701813e-01 -9.42486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.50, Y:-27.14, Z:-9.43 [[ 9.76946751e-01 2.07438039e-01 5.04430904e-02 1.43502277e+02] [-2.07121161e-01 9.78247852e-01 -1.14876059e-02 -2.71432899e+01] [-5.17288112e-02 7.74947769e-04 9.98660868e-01 -9.42530436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:-27.15, Z:-9.43 [[ 9.76670025e-01 2.08698473e-01 5.06024743e-02 1.43529771e+02] [-2.08381404e-01 9.77979778e-01 -1.15214821e-02 -2.71484136e+01] [-5.18927123e-02 7.08071570e-04 9.98652415e-01 -9.42564410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:-27.15, Z:-9.43 [[ 9.76392090e-01 2.10051572e-01 5.03668844e-02 1.43558314e+02] [-2.09739427e-01 9.77690105e-01 -1.14643986e-02 -2.71542501e+01] [-5.16513194e-02 6.29826657e-04 9.98664981e-01 -9.42768038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:-27.16, Z:-9.43 [[ 9.76054285e-01 2.11635497e-01 5.02836890e-02 1.43586404e+02] [-2.11326605e-01 9.77348516e-01 -1.14430807e-02 -2.71600398e+01] [-5.15664509e-02 5.42786685e-04 9.98669418e-01 -9.42945299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37264000000002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:143.61, Y:-27.16, Z:-9.43 [[ 9.75286553e-01 2.15083981e-01 5.05472128e-02 1.43613773e+02] [-2.14776589e-01 9.76595490e-01 -1.15006692e-02 -2.71629000e+01] [-5.18377898e-02 3.60090106e-04 9.98655453e-01 -9.43256346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-27.17, Z:-9.43 [[ 9.75020616e-01 2.16253382e-01 5.06879895e-02 1.43641081e+02] [-2.15946021e-01 9.76337230e-01 -1.15294689e-02 -2.71671535e+01] [-5.19818579e-02 2.95600238e-04 9.98647986e-01 -9.43261080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-27.17, Z:-9.43 [[ 9.74468248e-01 2.18937217e-01 4.97808119e-02 1.43667452e+02] [-2.18644400e-01 9.75738937e-01 -1.13204554e-02 -2.71702529e+01] [-5.10515455e-02 1.47128610e-04 9.98696009e-01 -9.43497255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-27.18, Z:-9.44 [[ 9.74167817e-01 2.20406285e-01 4.91745136e-02 1.43695059e+02] [-2.20122651e-01 9.75408153e-01 -1.11782637e-02 -2.71753334e+01] [-5.04289810e-02 6.50804930e-05 9.98727647e-01 -9.43700449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:-27.18, Z:-9.44 [[ 9.73849407e-01 2.21756103e-01 4.94121879e-02 1.43721479e+02] [-2.21471639e-01 9.75102164e-01 -1.12286423e-02 -2.71803990e+01] [-5.06719513e-02 -8.39160843e-06 9.98715351e-01 -9.43971657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:-27.19, Z:-9.44 [[ 9.73862294e-01 2.21699263e-01 4.94132512e-02 1.43749226e+02] [-2.21414963e-01 9.75115089e-01 -1.12239609e-02 -2.71865707e+01] [-5.06719507e-02 -1.02409082e-05 9.98715351e-01 -9.44165944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:-27.19, Z:-9.44 [[ 9.73526044e-01 2.23346771e-01 4.86133918e-02 1.43776988e+02] [-2.23073792e-01 9.74739047e-01 -1.10396177e-02 -2.71911617e+01] [-4.98510341e-02 -9.70183230e-05 9.98756660e-01 -9.44276834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:-27.20, Z:-9.44 [[ 9.73516442e-01 2.23480612e-01 4.81887291e-02 1.43804954e+02] [-2.23212724e-01 9.74708369e-01 -1.09396169e-02 -2.71953934e+01] [-4.94147498e-02 -1.06440598e-04 9.98778339e-01 -9.44445578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:-27.20, Z:-9.45 [[ 9.73650540e-01 2.22837095e-01 4.84588043e-02 1.43832963e+02] [-2.22565580e-01 9.74855694e-01 -1.09972359e-02 -2.71998715e+01] [-4.96909333e-02 -7.77972788e-05 9.98764639e-01 -9.44690872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-27.21, Z:-9.45 [[ 9.74503918e-01 2.18963959e-01 4.89581283e-02 1.43858717e+02] [-2.18682106e-01 9.75732940e-01 -1.11070142e-02 -2.72060071e+01] [-5.02020943e-02 1.17562245e-04 9.98739073e-01 -9.44925435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:-27.21, Z:-9.45 [[ 9.75162653e-01 2.16163201e-01 4.82832359e-02 1.43885333e+02] [-2.15885852e-01 9.76357212e-01 -1.09495529e-02 -2.72137187e+01] [-4.95085760e-02 2.53927516e-04 9.98773666e-01 -9.45117308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:-27.22, Z:-9.45 [[ 9.75730818e-01 2.13637635e-01 4.80450926e-02 1.43911945e+02] [-2.13360134e-01 9.76912902e-01 -1.08919322e-02 -2.72209333e+01] [-4.92627975e-02 3.76686540e-04 9.98785780e-01 -9.45338506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:-27.23, Z:-9.45 [[ 9.76586119e-01 2.09526113e-01 4.87684258e-02 1.43938288e+02] [-2.09235263e-01 9.77802874e-01 -1.10518699e-02 -2.72284933e+01] [-5.00015623e-02 5.89028393e-04 9.98748966e-01 -9.45488746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:143.97, Y:-27.24, Z:-9.46 [[ 9.76804815e-01 2.08617854e-01 4.82798552e-02 1.43966129e+02] [-2.08331859e-01 9.77997034e-01 -1.09378770e-02 -2.72360220e+01] [-4.94993917e-02 6.25938889e-04 9.98773958e-01 -9.45854984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:-27.24, Z:-9.46 [[ 9.76955938e-01 2.08456154e-01 4.58598660e-02 1.43993898e+02] [-2.08198045e-01 9.78031529e-01 -1.03876019e-02 -2.72441251e+01] [-4.70177544e-02 6.00294894e-04 9.98893873e-01 -9.45801893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264000000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:144.02, Y:-27.25, Z:-9.46 [[ 9.76712184e-01 2.09705919e-01 4.53512604e-02 1.44020508e+02] [-2.09454949e-01 9.77764360e-01 -1.02703564e-02 -2.72501076e+01] [-4.64966006e-02 5.32136325e-04 9.98918306e-01 -9.46163783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:-27.26, Z:-9.46 [[ 9.76396010e-01 2.11252558e-01 4.49798561e-02 1.44048711e+02] [-2.11007468e-01 9.77431406e-01 -1.01831135e-02 -2.72562254e+01] [-4.61159328e-02 4.51665876e-04 9.98935992e-01 -9.46136253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:-27.26, Z:-9.46 [[ 9.75963910e-01 2.13212304e-01 4.51105264e-02 1.44074883e+02] [-2.12967926e-01 9.77005826e-01 -1.02116500e-02 -2.72620693e+01] [-4.62504965e-02 3.59106628e-04 9.98929809e-01 -9.46310167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91264000000004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:144.10, Y:-27.27, Z:-9.47 [[ 9.74834860e-01 2.18521886e-01 4.41042143e-02 1.44101837e+02] [-2.18293974e-01 9.75832043e-01 -9.97825668e-03 -2.72691769e+01] [-4.52187730e-02 9.94682336e-05 9.98977103e-01 -9.46741302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:144.13, Y:-27.28, Z:-9.47 [[ 9.74286094e-01 2.20982587e-01 4.39693493e-02 1.44128381e+02] [-2.20758711e-01 9.75277753e-01 -9.94461797e-03 -2.72755424e+01] [-4.50799156e-02 -1.77138837e-05 9.98983384e-01 -9.46954725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:-27.28, Z:-9.47 [[ 9.73303758e-01 2.25245759e-01 4.40924307e-02 1.44154877e+02] [-2.25025178e-01 9.74301955e-01 -9.96841831e-03 -2.72815322e+01] [-4.52046854e-02 -2.19608084e-04 9.98977722e-01 -9.46952468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:-27.29, Z:-9.47 [[ 9.72792040e-01 2.27411287e-01 4.42690962e-02 1.44182111e+02] [-2.27191368e-01 9.73798747e-01 -1.00040843e-02 -2.72882092e+01] [-4.53842321e-02 -3.25662913e-04 9.98969552e-01 -9.47134757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:-27.29, Z:-9.47 [[ 9.72340070e-01 2.29215874e-01 4.48873160e-02 1.44208358e+02] [-2.28991803e-01 9.73375523e-01 -1.01412859e-02 -2.72937318e+01] [-4.60167584e-02 -4.18048814e-04 9.98940580e-01 -9.47324181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:-27.30, Z:-9.47 [[ 9.71483873e-01 2.32685547e-01 4.55688530e-02 1.44235455e+02] [-2.32458755e-01 9.72551839e-01 -1.02882723e-02 -2.72985019e+01] [-4.67120040e-02 -5.97988190e-04 9.98908220e-01 -9.47433356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:-27.30, Z:-9.48 [[ 9.71214883e-01 2.33697993e-01 4.61183188e-02 1.44261824e+02] [-2.33466994e-01 9.72309012e-01 -1.04089929e-02 -2.73046570e+01] [-4.72738177e-02 -6.57736480e-04 9.98881752e-01 -9.47616780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:-27.31, Z:-9.48 [[ 9.71066611e-01 2.34372699e-01 4.58156725e-02 1.44288561e+02] [-2.34145677e-01 9.72146574e-01 -1.03363733e-02 -2.73118534e+01] [-4.69621128e-02 -6.90234676e-04 9.98896433e-01 -9.47797282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:-27.32, Z:-9.48 [[ 9.71198225e-01 2.33980645e-01 4.50229322e-02 1.44314828e+02] [-2.33761147e-01 9.72241029e-01 -1.01542060e-02 -2.73203244e+01] [-4.61490296e-02 -6.62865442e-04 9.98934346e-01 -9.48056699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:-27.33, Z:-9.48 [[ 9.71409230e-01 2.33227235e-01 4.43752679e-02 1.44341134e+02] [-2.33013369e-01 9.72422064e-01 -1.00049509e-02 -2.73269018e+01] [-4.54849166e-02 -6.21129026e-04 9.98964832e-01 -9.48234643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:-27.33, Z:-9.48 [[ 9.71567275e-01 2.32782857e-01 4.32339068e-02 1.44368426e+02] [-2.32579602e-01 9.72528557e-01 -9.74341426e-03 -2.73334741e+01] [-4.43143088e-02 -5.88942417e-04 9.99017465e-01 -9.48389190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:-27.34, Z:-9.49 [[ 9.71931131e-01 2.31365925e-01 4.26577602e-02 1.44394013e+02] [-2.31166819e-01 9.72866660e-01 -9.61062004e-03 -2.73413823e+01] [-4.37238827e-02 -5.20197903e-04 9.99043518e-01 -9.48590461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:-27.35, Z:-9.49 [[ 9.72083956e-01 2.30756110e-01 4.24782338e-02 1.44420805e+02] [-2.30558271e-01 9.73011497e-01 -9.56610953e-03 -2.73493976e+01] [-4.35392480e-02 -4.94646545e-04 9.99051595e-01 -9.48721180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:-27.36, Z:-9.49 [[ 9.72168131e-01 2.30438424e-01 4.22759657e-02 1.44446256e+02] [-2.30242295e-01 9.73086790e-01 -9.51758024e-03 -2.73590802e+01] [-4.33314000e-02 -4.81027177e-04 9.99060638e-01 -9.48943878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:-27.37, Z:-9.49 [[ 9.72099730e-01 2.30720738e-01 4.23090473e-02 1.44472369e+02] [-2.30524737e-01 9.73019883e-01 -9.52115282e-03 -2.73656846e+01] [-4.33642717e-02 -4.97771939e-04 9.99059204e-01 -9.49110242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:-27.37, Z:-9.49 [[ 9.71894154e-01 2.31633142e-01 4.20457048e-02 1.44499159e+02] [-2.31440605e-01 9.72803062e-01 -9.45778705e-03 -2.73718020e+01] [-4.30929273e-02 -5.39115408e-04 9.99070923e-01 -9.49284195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39264000000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:144.53, Y:-27.38, Z:-9.50 [[ 9.71440562e-01 2.33549736e-01 4.19256002e-02 1.44526185e+02] [-2.33360213e-01 9.72344656e-01 -9.42769152e-03 -2.73779522e+01] [-4.29679681e-02 -6.25325032e-04 9.99076255e-01 -9.49658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:-27.38, Z:-9.50 [[ 9.70370294e-01 2.38022642e-01 4.15537598e-02 1.44553968e+02] [-2.37840694e-01 9.71259261e-01 -9.34093142e-03 -2.73845499e+01] [-4.25828272e-02 -8.19012719e-04 9.99092604e-01 -9.49637641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:-27.39, Z:-9.50 [[ 9.69848152e-01 2.40116476e-01 4.16970004e-02 1.44580297e+02] [-2.39935279e-01 9.70743653e-01 -9.37136888e-03 -2.73905488e+01] [-4.27273185e-02 -9.15776636e-04 9.99086351e-01 -9.49823559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:-27.40, Z:-9.50 [[ 9.68869503e-01 2.43938827e-01 4.22579550e-02 1.44607850e+02] [-2.43756669e-01 9.69789990e-01 -9.49002839e-03 -2.73958815e+01] [-4.32963282e-02 -1.10605927e-03 9.99061662e-01 -9.49985019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:-27.40, Z:-9.50 [[ 9.68505425e-01 2.45326365e-01 4.25701442e-02 1.44635356e+02] [-2.45142983e-01 9.69439829e-01 -9.55694998e-03 -2.74002182e+01] [-4.36137652e-02 -1.17981423e-03 9.99047770e-01 -9.50137001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-27.41, Z:-9.50 [[ 9.68198441e-01 2.46522505e-01 4.26430852e-02 1.44662191e+02] [-2.46339783e-01 9.69136275e-01 -9.57033643e-03 -2.74050180e+01] [-4.36862641e-02 -1.23870354e-03 9.99044532e-01 -9.50343080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-27.41, Z:-9.51 [[ 9.67983454e-01 2.47396330e-01 4.24627791e-02 1.44688668e+02] [-2.47216102e-01 9.68913531e-01 -9.52730480e-03 -2.74085913e+01] [-4.34997815e-02 -1.27520929e-03 9.99052623e-01 -9.50593987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:-27.41, Z:-9.51 [[ 9.68216326e-01 2.46480730e-01 4.24781707e-02 1.44716302e+02] [-2.46299815e-01 9.69146897e-01 -9.52331284e-03 -2.74134803e+01] [-4.35149005e-02 -1.24173860e-03 9.99052006e-01 -9.50855538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-27.42, Z:-9.51 [[ 9.69250748e-01 2.42440535e-01 4.21375757e-02 1.44743968e+02] [-2.42258823e-01 9.70165695e-01 -9.44392052e-03 -2.74169042e+01] [-4.31700196e-02 -1.05467250e-03 9.99067183e-01 -9.51103283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:-27.42, Z:-9.51 [[ 9.70006509e-01 2.39416585e-01 4.20365381e-02 1.44771515e+02] [-2.39233038e-01 9.70916501e-01 -9.41819773e-03 -2.74221462e+01] [-4.30688412e-02 -9.20815626e-04 9.99071683e-01 -9.51322957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:-27.43, Z:-9.52 [[ 9.70845604e-01 2.36016168e-01 4.18948776e-02 1.44797262e+02] [-2.35830815e-01 9.71748823e-01 -9.38357937e-03 -2.74285637e+01] [-4.29259745e-02 -7.70096345e-04 9.99077959e-01 -9.51519796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-27.44, Z:-9.52 [[ 9.71741757e-01 2.32269876e-01 4.20554630e-02 1.44824329e+02] [-2.32079761e-01 9.72651187e-01 -9.41556397e-03 -2.74357177e+01] [-4.30922479e-02 -6.10725108e-04 9.99070911e-01 -9.51677224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:-27.44, Z:-9.52 [[ 9.73319408e-01 2.25561280e-01 4.20884701e-02 1.44850663e+02] [-2.25364717e-01 9.74228930e-01 -9.41995827e-03 -2.74408195e+01] [-4.31285831e-02 -3.16627960e-04 9.99069480e-01 -9.51816532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:-27.45, Z:-9.52 [[ 9.73994698e-01 2.22669306e-01 4.18653627e-02 1.44878119e+02] [-2.22472327e-01 9.74894017e-01 -9.36590616e-03 -2.74454038e+01] [-4.28997915e-02 -1.91541720e-04 9.99079362e-01 -9.51955575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:-27.45, Z:-9.52 [[ 9.74989840e-01 2.18225737e-01 4.20991704e-02 1.44904549e+02] [-2.18022534e-01 9.75898318e-01 -9.41524477e-03 -2.74488637e+01] [-4.31391584e-02 1.20017568e-06 9.99069073e-01 -9.52137933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:144.93, Y:-27.45, Z:-9.52 [[ 9.75350539e-01 2.16490241e-01 4.27001388e-02 1.44931268e+02] [-2.16279677e-01 9.76284779e-01 -9.54627502e-03 -2.74542091e+01] [-4.37541709e-02 7.57922385e-05 9.99042325e-01 -9.52470938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-27.46, Z:-9.53 [[ 9.75813517e-01 2.14381307e-01 4.27625510e-02 1.44958419e+02] [-2.14168351e-01 9.76750033e-01 -9.55455994e-03 -2.74603296e+01] [-4.38166421e-02 1.65083717e-04 9.99039576e-01 -9.52513759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:-27.47, Z:-9.53 [[ 9.76688990e-01 2.10262120e-01 4.32256722e-02 1.44985456e+02] [-2.10040648e-01 9.77644986e-01 -9.65441806e-03 -2.74670618e+01] [-4.42893201e-02 3.50215617e-04 9.99018685e-01 -9.52635717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.01, Y:-27.47, Z:-9.53 [[ 9.77023990e-01 2.08622191e-01 4.35993599e-02 1.45013564e+02] [-2.08395373e-01 9.77996217e-01 -9.73488232e-03 -2.74730775e+01] [-4.46709216e-02 4.25308677e-04 9.99001666e-01 -9.52938877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:145.04, Y:-27.48, Z:-9.53 [[ 9.77404679e-01 2.06788305e-01 4.38028581e-02 1.45040553e+02] [-2.06557612e-01 9.78385577e-01 -9.77832653e-03 -2.74788580e+01] [-4.48781281e-02 5.09568329e-04 9.98992339e-01 -9.53176478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:145.07, Y:-27.49, Z:-9.53 [[ 9.78041555e-01 2.03625540e-01 4.43999656e-02 1.45067802e+02] [-2.03385387e-01 9.79048621e-01 -9.90866881e-03 -2.74864126e+01] [-4.54873831e-02 6.60785669e-04 9.98964695e-01 -9.53362861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:145.10, Y:-27.49, Z:-9.54 [[ 9.78355476e-01 2.02061770e-01 4.46273849e-02 1.45095709e+02] [-2.01817662e-01 9.79372504e-01 -9.95638058e-03 -2.74939682e+01] [-4.57186376e-02 7.34284989e-04 9.98954087e-01 -9.53512242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-27.51, Z:-9.54 [[ 9.78973435e-01 1.99315981e-01 4.34068425e-02 1.45123130e+02] [-1.99082439e-01 9.79934916e-01 -9.68210360e-03 -2.75056327e+01] [-4.44656785e-02 8.36982134e-04 9.99010562e-01 -9.53622639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-27.51, Z:-9.54 [[ 9.79180274e-01 1.98342226e-01 4.32012954e-02 1.45150267e+02] [-1.98110040e-01 9.80132438e-01 -9.63411787e-03 -2.75141832e+01] [-4.42538434e-02 8.74927828e-04 9.99019936e-01 -9.53815177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-27.52, Z:-9.54 [[ 9.79257193e-01 1.97818289e-01 4.38551581e-02 1.45176812e+02] [-1.97578582e-01 9.80238285e-01 -9.77793473e-03 -2.75212403e+01] [-4.49227593e-02 9.10272947e-04 9.98990049e-01 -9.53971221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:145.20, Y:-27.53, Z:-9.54 [[ 9.79175115e-01 1.98129133e-01 4.42825147e-02 1.45204400e+02] [-1.97885189e-01 9.80175512e-01 -9.87007158e-03 -2.75277955e+01] [-4.53601853e-02 9.01674669e-04 9.98970290e-01 -9.54324078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:145.23, Y:-27.54, Z:-9.54 [[ 9.78639715e-01 2.00925211e-01 4.35128494e-02 1.45232665e+02] [-2.00692553e-01 9.79606292e-01 -9.69593507e-03 -2.75383512e+01] [-4.45736188e-02 7.56122299e-04 9.99005816e-01 -9.54484844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.26, Y:-27.55, Z:-9.55 [[ 9.78194593e-01 2.03124697e-01 4.33092907e-02 1.45260658e+02] [-2.02896402e-01 9.79152660e-01 -9.64975840e-03 -2.75458730e+01] [-4.43665115e-02 6.52042227e-04 9.99015109e-01 -9.54669803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:-27.55, Z:-9.55 [[ 9.76954011e-01 2.09128257e-01 4.27344508e-02 1.45287704e+02] [-2.08911764e-01 9.77888149e-01 -9.52061463e-03 -2.75537244e+01] [-4.37805426e-02 3.73473130e-04 9.99041103e-01 -9.54651657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-27.56, Z:-9.55 [[ 9.76242128e-01 2.12569315e-01 4.20189703e-02 1.45315778e+02] [-2.12363318e-01 9.77145967e-01 -9.35841882e-03 -2.75611797e+01] [-4.30479800e-02 2.12794742e-04 9.99072983e-01 -9.54865945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-27.57, Z:-9.55 [[ 9.74717316e-01 2.19582264e-01 4.13495235e-02 1.45343140e+02] [-2.19389151e-01 9.75593983e-01 -9.20762625e-03 -2.75674204e+01] [-4.23621777e-02 -9.68041029e-05 9.99102315e-01 -9.55036625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-27.57, Z:-9.55 [[ 9.74070386e-01 2.22389616e-01 4.15901546e-02 1.45370678e+02] [-2.22196901e-01 9.74957850e-01 -9.25893571e-03 -2.75720649e+01] [-4.26077388e-02 -2.22348372e-04 9.99091853e-01 -9.55266753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-27.58, Z:-9.55 [[ 9.73514481e-01 2.24833240e-01 4.14676967e-02 1.45396911e+02] [-2.24643973e-01 9.74397201e-01 -9.22930975e-03 -2.75773137e+01] [-4.24810632e-02 -3.30601452e-04 9.99097217e-01 -9.55445460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-27.58, Z:-9.56 [[ 9.73069175e-01 2.26675254e-01 4.18892649e-02 1.45422990e+02] [-2.26484052e-01 9.73970304e-01 -9.31780994e-03 -2.75835224e+01] [-4.29110170e-02 -4.20376834e-04 9.99078810e-01 -9.55616704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:-27.59, Z:-9.56 [[ 9.72485098e-01 2.28960271e-01 4.30107896e-02 1.45450643e+02] [-2.28761105e-01 9.73435619e-01 -9.56311187e-03 -2.75894530e+01] [-4.40578072e-02 -5.39211980e-04 9.99028838e-01 -9.55740483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-27.60, Z:-9.56 [[ 9.72499107e-01 2.28900620e-01 4.30115563e-02 1.45478420e+02] [-2.28701548e-01 9.73449647e-01 -9.55966186e-03 -2.75954962e+01] [-4.40577968e-02 -5.40046905e-04 9.99028838e-01 -9.55934762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:145.50, Y:-27.60, Z:-9.56 [[ 9.72400161e-01 2.29272802e-01 4.32655566e-02 1.45504973e+02] [-2.29071838e-01 9.73362043e-01 -9.61389787e-03 -2.76001129e+01] [-4.43172558e-02 -5.62364726e-04 9.99017349e-01 -9.56156109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-27.60, Z:-9.56 [[ 9.72839522e-01 2.27360872e-01 4.34775625e-02 1.45532710e+02] [-2.27156214e-01 9.73810455e-01 -9.65673022e-03 -2.76047398e+01] [-4.45344675e-02 -4.81749685e-04 9.99007732e-01 -9.56248551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:-27.61, Z:-9.56 [[ 9.73163934e-01 2.25867932e-01 4.39958416e-02 1.45559750e+02] [-2.25656985e-01 9.74157841e-01 -9.76858936e-03 -2.76105683e+01] [-4.50653052e-02 -4.21530136e-04 9.98983954e-01 -9.56449363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:-27.62, Z:-9.57 [[ 9.73533027e-01 2.24206878e-01 4.43251735e-02 1.45587377e+02] [-2.23991208e-01 9.74541509e-01 -9.83799022e-03 -2.76165751e+01] [-4.54024665e-02 -3.50840737e-04 9.98968715e-01 -9.56603880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:-27.62, Z:-9.57 [[ 9.74547724e-01 2.19725127e-01 4.44702383e-02 1.45615147e+02] [-2.19503515e-01 9.75561811e-01 -9.86708289e-03 -2.76241306e+01] [-4.55515122e-02 -1.45430440e-04 9.98961981e-01 -9.56709226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:-27.63, Z:-9.57 [[ 9.75160195e-01 2.16937106e-01 4.47312637e-02 1.45641925e+02] [-2.16710044e-01 9.76185583e-01 -9.92296227e-03 -2.76320373e+01] [-4.58186734e-02 -1.72363075e-05 9.98949773e-01 -9.56867386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:145.67, Y:-27.64, Z:-9.57 [[ 9.75838427e-01 2.13695570e-01 4.55364403e-02 1.45669005e+02] [-2.13456876e-01 9.76900294e-01 -1.00983598e-02 -2.76404929e+01] [-4.66425367e-02 1.34301190e-04 9.98911636e-01 -9.57164407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:145.70, Y:-27.65, Z:-9.57 [[ 9.77407254e-01 2.06350667e-01 4.57653000e-02 1.45696064e+02] [-2.06101628e-01 9.78477985e-01 -1.01465145e-02 -2.76515921e+01] [-4.68740785e-02 4.84973982e-04 9.98900689e-01 -9.57237406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-27.66, Z:-9.57 [[ 9.78102332e-01 2.03131797e-01 4.53133599e-02 1.45724936e+02] [-2.02884291e-01 9.79151201e-01 -1.00443895e-02 -2.76606785e+01] [-4.64089657e-02 6.31071923e-04 9.98922324e-01 -9.57312229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:145.75, Y:-27.67, Z:-9.58 [[ 9.78599540e-01 2.00727756e-01 4.52913752e-02 1.45753856e+02] [-2.00477995e-01 9.79646781e-01 -1.00378169e-02 -2.76702791e+01] [-4.63844184e-02 7.43078933e-04 9.98923387e-01 -9.57628559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.78, Y:-27.68, Z:-9.58 [[ 9.79252725e-01 1.97503672e-01 4.53475600e-02 1.45782958e+02] [-1.97249859e-01 9.80301737e-01 -1.00497299e-02 -2.76839563e+01] [-4.64391504e-02 8.96425541e-04 9.98920718e-01 -9.57713040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:-27.69, Z:-9.58 [[ 9.79461781e-01 1.96519705e-01 4.51068184e-02 1.45813692e+02] [-1.96267640e-01 9.80499429e-01 -9.99419854e-03 -2.76946403e+01] [-4.61912666e-02 9.35926713e-04 9.98932175e-01 -9.57848141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:145.84, Y:-27.71, Z:-9.58 [[ 9.79511172e-01 1.96329118e-01 4.48635808e-02 1.45843200e+02] [-1.96079183e-01 9.80537597e-01 -9.94862970e-03 -2.77059450e+01] [-4.59436334e-02 9.47979667e-04 9.98943584e-01 -9.58111059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:145.87, Y:-27.72, Z:-9.58 [[ 9.79428469e-01 1.96811573e-01 4.45542337e-02 1.45873338e+02] [-1.96565279e-01 9.80440895e-01 -9.88649104e-03 -2.77209685e+01] [-4.56285686e-02 9.25295420e-04 9.98958046e-01 -9.58244131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.91, Y:-27.73, Z:-9.58 [[ 9.79179053e-01 1.98065325e-01 4.44804443e-02 1.45905261e+02] [-1.97820727e-01 9.80188432e-01 -9.87914195e-03 -2.77312406e+01] [-4.55559324e-02 8.74295037e-04 9.98961407e-01 -9.58404381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-27.74, Z:-9.59 [[ 9.78809818e-01 1.99887871e-01 4.44542290e-02 1.45936329e+02] [-1.99645001e-01 9.79818453e-01 -9.88292480e-03 -2.77410790e+01] [-4.55325507e-02 7.98439243e-04 9.98962537e-01 -9.58586532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-27.75, Z:-9.59 [[ 9.77818162e-01 2.04563104e-01 4.50064350e-02 1.45965998e+02] [-2.04318590e-01 9.78853195e-01 -1.00167781e-02 -2.77537063e+01] [-4.61037560e-02 5.98936189e-04 9.98936477e-01 -9.58758132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-27.76, Z:-9.59 [[ 9.77260745e-01 2.07219688e-01 4.49603981e-02 1.45996059e+02] [-2.06978322e-01 9.78294319e-01 -1.00100134e-02 -2.77638019e+01] [-4.60587738e-02 4.76565340e-04 9.98938618e-01 -9.58942405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-27.77, Z:-9.59 [[ 9.76740466e-01 2.09835114e-01 4.41280725e-02 1.46027017e+02] [-2.09604985e-01 9.77736724e-01 -9.83105443e-03 -2.77735380e+01] [-4.52085374e-02 3.52924711e-04 9.98977509e-01 -9.59127815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:146.06, Y:-27.79, Z:-9.59 [[ 9.75374134e-01 2.16282538e-01 4.32106767e-02 1.46056483e+02] [-2.16067955e-01 9.76330815e-01 -9.63215598e-03 -2.77857111e+01] [-4.42711823e-02 5.85132564e-05 9.99019549e-01 -9.59399914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:-27.80, Z:-9.60 [[ 9.74606284e-01 2.19721324e-01 4.31871546e-02 1.46086416e+02] [-2.19510299e-01 9.75562674e-01 -9.62798300e-03 -2.77951451e+01] [-4.42472492e-02 -9.65325049e-05 9.99020606e-01 -9.59605432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264000000004 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:146.12, Y:-27.80, Z:-9.60 [[ 9.73815044e-01 2.23295333e-01 4.27019295e-02 1.46116319e+02] [-2.23092410e-01 9.74750804e-01 -9.52089513e-03 -2.78041676e+01] [-4.37497116e-02 -2.54885447e-04 9.99042490e-01 -9.59857862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:-27.81, Z:-9.60 [[ 9.72346356e-01 2.29510256e-01 4.32158107e-02 1.46144105e+02] [-2.29308452e-01 9.73306094e-01 -9.63750690e-03 -2.78131560e+01] [-4.42741186e-02 -5.38755934e-04 9.99019275e-01 -9.59895588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-27.82, Z:-9.60 [[ 9.71735080e-01 2.32055439e-01 4.33728987e-02 1.46174796e+02] [-2.31854762e-01 9.72702339e-01 -9.67108101e-03 -2.78207915e+01] [-4.44331470e-02 -6.58484419e-04 9.99012143e-01 -9.60053456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:-27.83, Z:-9.60 [[ 9.70835778e-01 2.35759112e-01 4.35377278e-02 1.46203756e+02] [-2.35560560e-01 9.71811171e-01 -9.70927390e-03 -2.78296721e+01] [-4.45995000e-02 -8.29661054e-04 9.99004603e-01 -9.60228614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-27.84, Z:-9.60 [[ 9.70495517e-01 2.37098670e-01 4.38482898e-02 1.46234429e+02] [-2.36898627e-01 9.71485160e-01 -9.77880733e-03 -2.78376048e+01] [-4.49165051e-02 -8.97310994e-04 9.98990342e-01 -9.60433460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:-27.84, Z:-9.61 [[ 9.70200502e-01 2.38196209e-01 4.44246820e-02 1.46264237e+02] [-2.37992000e-01 9.71216579e-01 -9.90777158e-03 -2.78443970e+01] [-4.55059813e-02 -9.60193936e-04 9.98963605e-01 -9.60557565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-27.85, Z:-9.61 [[ 9.69867213e-01 2.39387290e-01 4.52914350e-02 1.46294232e+02] [-2.39176138e-01 9.70923612e-01 -1.01051760e-02 -2.78498485e+01] [-4.63935743e-02 -1.03195160e-03 9.98922705e-01 -9.60726846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:-27.85, Z:-9.61 [[ 9.69034495e-01 2.42630901e-01 4.58518720e-02 1.46323091e+02] [-2.42418075e-01 9.70117933e-01 -1.02310162e-02 -2.78530189e+01] [-4.69640839e-02 -1.20111492e-03 9.98895857e-01 -9.60855798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-27.86, Z:-9.61 [[ 9.68592055e-01 2.44431943e-01 4.56339253e-02 1.46353468e+02] [-2.44223278e-01 9.69665599e-01 -1.01792678e-02 -2.78587759e+01] [-4.67377857e-02 -1.28530889e-03 9.98906366e-01 -9.61039140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-27.86, Z:-9.61 [[ 9.68190703e-01 2.46004987e-01 4.56980140e-02 1.46383003e+02] [-2.45797413e-01 9.69267606e-01 -1.01950726e-02 -2.78642765e+01] [-4.68016433e-02 -1.36167907e-03 9.98903275e-01 -9.61222653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:-27.87, Z:-9.61 [[ 9.67644521e-01 2.48046513e-01 4.62277778e-02 1.46411322e+02] [-2.47836342e-01 9.68747000e-01 -1.03149465e-02 -2.78668619e+01] [-4.73416076e-02 -1.47572187e-03 9.98877667e-01 -9.61353148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-27.87, Z:-9.62 [[ 9.67654184e-01 2.47927365e-01 4.66626467e-02 1.46439851e+02] [-2.47713158e-01 9.68777485e-01 -1.04103671e-02 -2.78712817e+01] [-4.77867365e-02 -1.48531628e-03 9.98856457e-01 -9.61535032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:146.47, Y:-27.87, Z:-9.62 [[ 9.68449960e-01 2.44877435e-01 4.62570666e-02 1.46469626e+02] [-2.44663594e-01 9.69553136e-01 -1.03170825e-02 -2.78744204e+01] [-4.73751047e-02 -1.32584202e-03 9.98876289e-01 -9.61767576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-27.88, Z:-9.62 [[ 9.69245846e-01 2.41830032e-01 4.56149778e-02 1.46497895e+02] [-2.41618756e-01 9.70317931e-01 -1.01729911e-02 -2.78791514e+01] [-4.67211656e-02 -1.16130485e-03 9.98907295e-01 -9.61935876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:-27.88, Z:-9.62 [[ 9.70170064e-01 2.38184734e-01 4.51450933e-02 1.46527476e+02] [-2.37973935e-01 9.71219376e-01 -1.00662194e-02 -2.78835942e+01] [-4.62434091e-02 -9.77410808e-04 9.98929723e-01 -9.62169028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:146.56, Y:-27.89, Z:-9.62 [[ 9.72159634e-01 2.30039129e-01 4.45830229e-02 1.46558196e+02] [-2.29825051e-01 9.73181205e-01 -9.93920137e-03 -2.78860434e+01] [-4.56737652e-02 -5.83805152e-04 9.98956238e-01 -9.62441727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:-27.89, Z:-9.63 [[ 9.73118401e-01 2.26060132e-01 4.40158466e-02 1.46587863e+02] [-2.25847397e-01 9.74113270e-01 -9.81275685e-03 -2.78923226e+01] [-4.50946934e-02 -3.91890139e-04 9.98982640e-01 -9.62634609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61264000000003 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:146.62, Y:-27.90, Z:-9.63 [[ 9.74051522e-01 2.22087858e-01 4.35960455e-02 1.46616615e+02] [-2.21875157e-01 9.75026636e-01 -9.71976103e-03 -2.78982072e+01] [-4.46659465e-02 -2.05331392e-04 9.99001957e-01 -9.62869260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.65, Y:-27.90, Z:-9.63 [[ 9.75344464e-01 2.16156389e-01 4.44926004e-02 1.46646146e+02] [-2.15928762e-01 9.76358751e-01 -9.91760796e-03 -2.79037951e+01] [-4.55844941e-02 6.58519303e-05 9.98960484e-01 -9.62956950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.68, Y:-27.91, Z:-9.63 [[ 9.75888786e-01 2.13594102e-01 4.49292372e-02 1.46676587e+02] [-2.13359253e-01 9.76922476e-01 -1.00152405e-02 -2.79093767e+01] [-4.60315780e-02 1.87692435e-04 9.98939967e-01 -9.63121561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.71, Y:-27.92, Z:-9.63 [[ 9.76323599e-01 2.11545397e-01 4.51749366e-02 1.46706905e+02] [-2.11305723e-01 9.77368131e-01 -1.00711889e-02 -2.79154625e+01] [-4.62830570e-02 2.87016767e-04 9.98928324e-01 -9.63276608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.74, Y:-27.92, Z:-9.63 [[ 9.76951169e-01 2.08311504e-01 4.66125564e-02 1.46737393e+02] [-2.08052717e-01 9.78062428e-01 -1.03901194e-02 -2.79218695e+01] [-4.77543715e-02 4.52770304e-04 9.98859007e-01 -9.63318793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264000000003 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:146.77, Y:-27.93, Z:-9.64 [[ 9.77244196e-01 2.06777290e-01 4.72962233e-02 1.46768635e+02] [-2.06508683e-01 9.78387887e-01 -1.05501870e-02 -2.79287359e+01] [-4.84555911e-02 5.43028177e-04 9.98825190e-01 -9.63583858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:-27.94, Z:-9.64 [[ 9.77992775e-01 2.03289178e-01 4.69429622e-02 1.46799884e+02] [-2.03020104e-01 9.79118477e-01 -1.04806887e-02 -2.79372420e+01] [-4.80933323e-02 7.19672731e-04 9.98842587e-01 -9.63793819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264000000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:146.83, Y:-27.95, Z:-9.64 [[ 9.78367538e-01 2.01509060e-01 4.68087499e-02 1.46831787e+02] [-2.01239135e-01 9.79486314e-01 -1.04580867e-02 -2.79450741e+01] [-4.79559291e-02 8.12100247e-04 9.98849122e-01 -9.64002864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:-27.95, Z:-9.64 [[ 9.78631197e-01 2.00030370e-01 4.76322431e-02 1.46862539e+02] [-1.99748587e-01 9.79789274e-01 -1.06527156e-02 -2.79531456e+01] [-4.88004275e-02 9.10606607e-04 9.98808134e-01 -9.64197230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:-27.96, Z:-9.64 [[ 9.79053480e-01 1.97815008e-01 4.82027510e-02 1.46893042e+02] [-1.97523261e-01 9.80238815e-01 -1.07901022e-02 -2.79629689e+01] [-4.93846517e-02 1.04292252e-03 9.98779289e-01 -9.64420898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:-27.97, Z:-9.65 [[ 9.79234370e-01 1.97032795e-01 4.77297164e-02 1.46924579e+02] [-1.96745382e-01 9.80396303e-01 -1.06932029e-02 -2.79714906e+01] [-4.89009491e-02 1.08055048e-03 9.98803048e-01 -9.64630583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:-27.98, Z:-9.65 [[ 9.79349046e-01 1.96556920e-01 4.73373283e-02 1.46956524e+02] [-1.96273223e-01 9.80491794e-01 -1.06143294e-02 -2.79798937e+01] [-4.85001818e-02 1.10408344e-03 9.98822564e-01 -9.64891668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:-27.99, Z:-9.65 [[ 9.79421342e-01 1.96363512e-01 4.66390926e-02 1.46988556e+02] [-1.96087456e-01 9.80530543e-01 -1.04672404e-02 -2.79887018e+01] [-4.77864389e-02 1.10649767e-03 9.98856963e-01 -9.65127054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.02, Y:-28.00, Z:-9.65 [[ 9.79387411e-01 1.96576096e-01 4.64557680e-02 1.47019589e+02] [-1.96301976e-01 9.80487953e-01 -1.04359417e-02 -2.79984995e+01] [-4.76007775e-02 1.10147082e-03 9.98865833e-01 -9.65272607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03264000000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.05, Y:-28.01, Z:-9.66 [[ 9.79249553e-01 1.97201258e-01 4.67116442e-02 1.47050724e+02] [-1.96924393e-01 9.80362425e-01 -1.05022961e-02 -2.80088672e+01] [-4.78654068e-02 1.08570659e-03 9.98853204e-01 -9.65522345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:-28.02, Z:-9.66 [[ 9.79090951e-01 1.97926158e-01 4.69696287e-02 1.47081784e+02] [-1.97646590e-01 9.80216354e-01 -1.05700063e-02 -2.80197332e+01] [-4.81324789e-02 1.06561053e-03 9.98840392e-01 -9.65676198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:-28.03, Z:-9.66 [[ 9.78472239e-01 2.00806985e-01 4.76301533e-02 1.47111994e+02] [-2.00522391e-01 9.79630368e-01 -1.07290813e-02 -2.80312614e+01] [-4.88144191e-02 9.47195975e-04 9.98807417e-01 -9.65806257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:147.14, Y:-28.04, Z:-9.66 [[ 9.78022817e-01 2.03010431e-01 4.75198230e-02 1.47144126e+02] [-2.02729318e-01 9.79176211e-01 -1.07131365e-02 -2.80400552e+01] [-4.87051587e-02 8.44030625e-04 9.98812843e-01 -9.66003371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:-28.05, Z:-9.66 [[ 9.76878133e-01 2.08320571e-01 4.80796449e-02 1.47173746e+02] [-2.08038690e-01 9.78060419e-01 -1.08498646e-02 -2.80524264e+01] [-4.92850476e-02 5.96569143e-04 9.98784575e-01 -9.66184068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.21, Y:-28.06, Z:-9.66 [[ 9.76178963e-01 2.11646168e-01 4.77549204e-02 1.47205650e+02] [-2.11371615e-01 9.77346259e-01 -1.07856212e-02 -2.80618976e+01] [-4.89558282e-02 4.34661881e-04 9.98800850e-01 -9.66387540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:-28.07, Z:-9.67 [[ 9.75507188e-01 2.14723392e-01 4.77450539e-02 1.47236015e+02] [-2.14452129e-01 9.76674859e-01 -1.07936894e-02 -2.80705084e+01] [-4.89490514e-02 2.90293137e-04 9.98801235e-01 -9.66526165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-28.08, Z:-9.67 [[ 9.74864466e-01 2.17652153e-01 4.76110541e-02 1.47266830e+02] [-2.17385385e-01 9.76026392e-01 -1.07739323e-02 -2.80792138e+01] [-4.88146149e-02 1.53176479e-04 9.98807844e-01 -9.66730263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.30, Y:-28.09, Z:-9.67 [[ 9.73740391e-01 2.22742832e-01 4.70667762e-02 1.47296976e+02] [-2.22487838e-01 9.74877234e-01 -1.06555439e-02 -2.80915793e+01] [-4.82577747e-02 -9.60517859e-05 9.98834910e-01 -9.67021524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-28.10, Z:-9.67 [[ 9.73290170e-01 2.24795088e-01 4.66198805e-02 1.47328078e+02] [-2.24546858e-01 9.74406041e-01 -1.05629151e-02 -2.81017101e+01] [-4.78011847e-02 -1.87566292e-04 9.98856852e-01 -9.67187459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:-28.11, Z:-9.67 [[ 9.73260299e-01 2.24924857e-01 4.66175928e-02 1.47360640e+02] [-2.24676293e-01 9.74376095e-01 -1.05730002e-02 -2.81092644e+01] [-4.78011986e-02 -1.83586588e-04 9.98856852e-01 -9.67415954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:-28.12, Z:-9.68 [[ 9.72747649e-01 2.27157811e-01 4.64902093e-02 1.47391304e+02] [-2.26912829e-01 9.73857919e-01 -1.05508716e-02 -2.81185728e+01] [-4.76715714e-02 -2.85889366e-04 9.98863023e-01 -9.67661368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:-28.13, Z:-9.68 [[ 9.71573098e-01 2.32040940e-01 4.69331258e-02 1.47422197e+02] [-2.31796710e-01 9.72705879e-01 -1.06564026e-02 -2.81283100e+01] [-4.81248491e-02 -5.25470098e-04 9.98841190e-01 -9.67929394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-28.14, Z:-9.68 [[ 9.70938160e-01 2.34653131e-01 4.70849978e-02 1.47454360e+02] [-2.34410016e-01 9.72078951e-01 -1.06985274e-02 -2.81370969e+01] [-4.82807782e-02 -6.49586514e-04 9.98833592e-01 -9.68180715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-28.15, Z:-9.68 [[ 9.70316292e-01 2.37236476e-01 4.69590077e-02 1.47486574e+02] [-2.36997225e-01 9.71451628e-01 -1.06793660e-02 -2.81460920e+01] [-4.81519396e-02 -7.66791694e-04 9.98839728e-01 -9.68362175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-28.16, Z:-9.68 [[ 9.68959466e-01 2.42683969e-01 4.71385571e-02 1.47518119e+02] [-2.42448852e-01 9.70104853e-01 -1.07297618e-02 -2.81551256e+01] [-4.83332842e-02 -1.03198478e-03 9.98830731e-01 -9.68474709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-28.16, Z:-9.69 [[ 9.68199205e-01 2.45704400e-01 4.71131402e-02 1.47549648e+02] [-2.45472611e-01 9.69344095e-01 -1.07342011e-02 -2.81619149e+01] [-4.83062847e-02 -1.17214057e-03 9.98831882e-01 -9.68615608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:-28.17, Z:-9.69 [[ 9.66931450e-01 2.50606040e-01 4.73305782e-02 1.47580232e+02] [-2.50377482e-01 9.68088123e-01 -1.07936219e-02 -2.81665255e+01] [-4.85251174e-02 -1.41381857e-03 9.98820962e-01 -9.68817014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:147.61, Y:-28.17, Z:-9.69 [[ 9.66380819e-01 2.52726878e-01 4.72994404e-02 1.47611636e+02] [-2.52500783e-01 9.67536480e-01 -1.07942095e-02 -2.81720337e+01] [-4.84919209e-02 -1.51182872e-03 9.98822431e-01 -9.69144908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264000000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:147.64, Y:-28.18, Z:-9.69 [[ 9.66050158e-01 2.54062993e-01 4.68944299e-02 1.47642985e+02] [-2.53841930e-01 9.67186420e-01 -1.07100086e-02 -2.81776317e+01] [-4.80766726e-02 -1.55736712e-03 9.98842434e-01 -9.69313437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:-28.18, Z:-9.69 [[ 9.66014873e-01 2.54240084e-01 4.66609482e-02 1.47672597e+02] [-2.54020867e-01 9.67139900e-01 -1.06683147e-02 -2.81827579e+01] [-4.78399780e-02 -1.54710382e-03 9.98853815e-01 -9.69449149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-28.19, Z:-9.70 [[ 9.66168280e-01 2.53537846e-01 4.73013227e-02 1.47703441e+02] [-2.53311722e-01 9.67324253e-01 -1.08148505e-02 -2.81871475e+01] [-4.84976906e-02 -1.53301397e-03 9.98822118e-01 -9.69630288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-28.19, Z:-9.70 [[ 9.66550179e-01 2.52022117e-01 4.75983619e-02 1.47732981e+02] [-2.51791194e-01 9.67720367e-01 -1.08850939e-02 -2.81927192e+01] [-4.88051887e-02 -1.46385890e-03 9.98807244e-01 -9.69846891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.76, Y:-28.20, Z:-9.70 [[ 9.67136613e-01 2.49693805e-01 4.79559753e-02 1.47764089e+02] [-2.49456519e-01 9.68323894e-01 -1.09672591e-02 -2.81982941e+01] [-4.91753734e-02 -1.35609286e-03 9.98789239e-01 -9.70059727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75264 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:147.80, Y:-28.20, Z:-9.70 [[ 9.68756062e-01 2.42904867e-01 5.00891109e-02 1.47795818e+02] [-2.42636972e-01 9.70049539e-01 -1.14539246e-02 -2.82028679e+01] [-5.13711330e-02 -1.05741129e-03 9.98679072e-01 -9.70214034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.83, Y:-28.21, Z:-9.70 [[ 9.69704570e-01 2.38899771e-01 5.09896696e-02 1.47827096e+02] [-2.38616080e-01 9.71043859e-01 -1.16700698e-02 -2.82090972e+01] [-5.23011825e-02 -8.50435031e-04 9.98630994e-01 -9.70368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-28.22, Z:-9.71 [[ 9.71632349e-01 2.30818550e-01 5.15109189e-02 1.47859653e+02] [-2.30517312e-01 9.72996725e-01 -1.17958660e-02 -2.82165814e+01] [-5.28426600e-02 -4.12913544e-04 9.98602765e-01 -9.70519255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-28.22, Z:-9.71 [[ 9.72492786e-01 2.27218033e-01 5.12810603e-02 1.47890424e+02] [-2.26914076e-01 9.73843890e-01 -1.17507598e-02 -2.82244168e+01] [-5.26097318e-02 -2.08865295e-04 9.98615127e-01 -9.70715760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.92, Y:-28.23, Z:-9.71 [[ 9.73273413e-01 2.23895749e-01 5.10838207e-02 1.47922139e+02] [-2.23589269e-01 9.74613099e-01 -1.17109367e-02 -2.82320986e+01] [-5.24089897e-02 -2.38507331e-05 9.98625704e-01 -9.71030303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:147.95, Y:-28.24, Z:-9.71 [[ 9.74422493e-01 2.19058688e-01 5.01407616e-02 1.47953991e+02] [-2.18756501e-01 9.75711655e-01 -1.15048004e-02 -2.82394680e+01] [-5.14431519e-02 2.41918714e-04 9.98675895e-01 -9.71286510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.99, Y:-28.25, Z:-9.71 [[ 9.74640475e-01 2.18284622e-01 4.92723936e-02 1.47985407e+02] [-2.17991297e-01 9.75885106e-01 -1.13160740e-02 -2.82467467e+01] [-5.05543200e-02 2.88150692e-04 9.98721271e-01 -9.71449187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:148.02, Y:-28.25, Z:-9.72 [[ 9.74658061e-01 2.18315206e-01 4.87866319e-02 1.48016157e+02] [-2.18027200e-01 9.75878263e-01 -1.12140657e-02 -2.82537164e+01] [-5.00580147e-02 2.93066783e-04 9.98746269e-01 -9.71684143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.05, Y:-28.26, Z:-9.72 [[ 9.74514980e-01 2.18972469e-01 4.86991894e-02 1.48048288e+02] [-2.18685848e-01 9.75731001e-01 -1.12032956e-02 -2.82605082e+01] [-4.99705221e-02 2.67955874e-04 9.98750657e-01 -9.71877365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.08, Y:-28.27, Z:-9.72 [[ 9.73865552e-01 2.21990096e-01 4.80237896e-02 1.48080201e+02] [-2.21714547e-01 9.75048913e-01 -1.10579035e-02 -2.82658682e+01] [-4.92802889e-02 1.21338510e-04 9.98784981e-01 -9.72116984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-28.27, Z:-9.72 [[ 9.73421648e-01 2.23946699e-01 4.79392495e-02 1.48112852e+02] [-2.23674048e-01 9.74601393e-01 -1.10474023e-02 -2.82731589e+01] [-4.91956886e-02 3.10145549e-05 9.98789159e-01 -9.72285449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.14, Y:-28.28, Z:-9.72 [[ 9.72664787e-01 2.27044946e-01 4.87216974e-02 1.48144401e+02] [-2.26766669e-01 9.73884274e-01 -1.12382990e-02 -2.82795909e+01] [-5.00008939e-02 -1.17359256e-04 9.98749166e-01 -9.72464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:-28.29, Z:-9.73 [[ 9.72353813e-01 2.28337435e-01 4.88884173e-02 1.48176678e+02] [-2.28058415e-01 9.73582038e-01 -1.12860111e-02 -2.82864928e+01] [-5.01739038e-02 -1.75419019e-04 9.98740481e-01 -9.72657953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:148.21, Y:-28.29, Z:-9.73 [[ 9.72161802e-01 2.29224423e-01 4.85550641e-02 1.48207486e+02] [-2.28949788e-01 9.73373577e-01 -1.12193827e-02 -2.82927903e+01] [-4.98339730e-02 -2.09616328e-04 9.98757494e-01 -9.72968000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17264000000003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:148.24, Y:-28.30, Z:-9.73 [[ 9.71905502e-01 2.30263155e-01 4.87706309e-02 1.48239444e+02] [-2.29986888e-01 9.73128365e-01 -1.12790349e-02 -2.82977954e+01] [-5.00572304e-02 -2.54449536e-04 9.98746319e-01 -9.73142007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.27, Y:-28.30, Z:-9.73 [[ 9.71829866e-01 2.30491924e-01 4.91953804e-02 1.48270159e+02] [-2.30210644e-01 9.73074204e-01 -1.13865669e-02 -2.83037723e+01] [-5.04952674e-02 -2.59494396e-04 9.98724267e-01 -9.73359655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:148.30, Y:-28.31, Z:-9.74 [[ 9.71714880e-01 2.30876212e-01 4.96625327e-02 1.48301253e+02] [-2.30589640e-01 9.72983093e-01 -1.15029660e-02 -2.83104744e+01] [-5.09765659e-02 -2.74062327e-04 9.98699812e-01 -9.73602915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.33, Y:-28.32, Z:-9.74 [[ 9.71743228e-01 2.30781855e-01 4.95462863e-02 1.48331809e+02] [-2.30495981e-01 9.73005482e-01 -1.14862559e-02 -2.83172680e+01] [-5.08596276e-02 -2.58528488e-04 9.98705778e-01 -9.73815369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:148.36, Y:-28.32, Z:-9.74 [[ 9.71852541e-01 2.30453749e-01 4.89255437e-02 1.48361594e+02] [-2.30174254e-01 9.73083252e-01 -1.13488742e-02 -2.83245545e+01] [-5.02240178e-02 -2.31968297e-04 9.98737951e-01 -9.74044550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-28.33, Z:-9.74 [[ 9.71949789e-01 2.30130787e-01 4.85121534e-02 1.48393460e+02] [-2.29855743e-01 9.73159686e-01 -1.12500274e-02 -2.83326812e+01] [-4.97990496e-02 -2.16335312e-04 9.98759234e-01 -9.74278136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:-28.34, Z:-9.75 [[ 9.72108996e-01 2.29433589e-01 4.86243533e-02 1.48424559e+02] [-2.29155870e-01 9.73324303e-01 -1.12866199e-02 -2.83405310e+01] [-4.99167945e-02 -1.70731289e-04 9.98753365e-01 -9.74551417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.46, Y:-28.35, Z:-9.75 [[ 9.72139717e-01 2.29326120e-01 4.85170160e-02 1.48456224e+02] [-2.29049003e-01 9.73349632e-01 -1.12715364e-02 -2.83477603e+01] [-4.98088774e-02 -1.55265897e-04 9.98758755e-01 -9.74779195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:-28.36, Z:-9.75 [[ 9.72132265e-01 2.29242697e-01 4.90575813e-02 1.48487676e+02] [-2.28958810e-01 9.73369285e-01 -1.14060558e-02 -2.83557498e+01] [-5.03658978e-02 -1.43970618e-04 9.98730822e-01 -9.74975380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264000000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:148.52, Y:-28.36, Z:-9.75 [[ 9.72264850e-01 2.28795767e-01 4.85134871e-02 1.48518689e+02] [-2.28517165e-01 9.73474440e-01 -1.12880681e-02 -2.83644158e+01] [-4.98093019e-02 -1.11172751e-04 9.98758740e-01 -9.75197868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-28.37, Z:-9.75 [[ 9.72234337e-01 2.28896877e-01 4.86478585e-02 1.48549600e+02] [-2.28616364e-01 9.73450671e-01 -1.13291646e-02 -2.83717750e+01] [-4.99495008e-02 -1.07093714e-04 9.98751739e-01 -9.75390459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:148.58, Y:-28.38, Z:-9.76 [[ 9.72313757e-01 2.28623578e-01 4.83447718e-02 1.48581312e+02] [-2.28345807e-01 9.73514896e-01 -1.12667574e-02 -2.83790986e+01] [-4.96402019e-02 -8.45027403e-05 9.98767162e-01 -9.75669361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:-28.39, Z:-9.76 [[ 9.72466536e-01 2.27921391e-01 4.85867829e-02 1.48611716e+02] [-2.27639429e-01 9.73679536e-01 -1.13336853e-02 -2.83906260e+01] [-4.98911455e-02 -3.86378677e-05 9.98754661e-01 -9.75912072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-28.40, Z:-9.76 [[ 9.72490263e-01 2.27715439e-01 4.90751258e-02 1.48643829e+02] [-2.27427034e-01 9.73727723e-01 -1.14571146e-02 -2.84001502e+01] [-5.03947724e-02 -1.90779556e-05 9.98729376e-01 -9.76107385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-28.41, Z:-9.76 [[ 9.72331489e-01 2.28231732e-01 4.98171842e-02 1.48675757e+02] [-2.27934666e-01 9.73606838e-01 -1.16409981e-02 -2.84087077e+01] [-5.11591963e-02 -3.61542511e-05 9.98690510e-01 -9.76258853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-28.42, Z:-9.76 [[ 9.72069540e-01 2.29273535e-01 5.01443510e-02 1.48706149e+02] [-2.28973382e-01 9.73362029e-01 -1.17281949e-02 -2.84170215e+01] [-5.14975719e-02 -8.11006192e-05 9.98673116e-01 -9.76442940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:-28.43, Z:-9.77 [[ 9.71788456e-01 2.30342191e-01 5.06919375e-02 1.48737370e+02] [-2.30036388e-01 9.73109685e-01 -1.18659997e-02 -2.84260316e+01] [-5.20620557e-02 -1.29748651e-04 9.98643843e-01 -9.76670981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:-28.43, Z:-9.77 [[ 9.71415334e-01 2.31689428e-01 5.16938801e-02 1.48768114e+02] [-2.31372713e-01 9.72789788e-01 -1.21118432e-02 -2.84347597e+01] [-5.30934647e-02 -1.94923043e-04 9.98589528e-01 -9.76852278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:-28.44, Z:-9.77 [[ 9.70767000e-01 2.34134061e-01 5.28457433e-02 1.48799832e+02] [-2.33806117e-01 9.72204266e-01 -1.23921062e-02 -2.84442023e+01] [-5.42782712e-02 -3.25810275e-04 9.98525795e-01 -9.77126339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-28.45, Z:-9.77 [[ 9.70511321e-01 2.35236429e-01 5.26459745e-02 1.48831845e+02] [-2.34911986e-01 9.71938106e-01 -1.23562774e-02 -2.84529083e+01] [-5.40752753e-02 -3.75263302e-04 9.98536791e-01 -9.77334694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.86, Y:-28.46, Z:-9.78 [[ 9.69921383e-01 2.37874793e-01 5.16535898e-02 1.48863563e+02] [-2.37565651e-01 9.71295697e-01 -1.21338722e-02 -2.84609177e+01] [-5.30572518e-02 -5.02216543e-04 9.98591346e-01 -9.77653064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-28.47, Z:-9.78 [[ 9.69672611e-01 2.39098973e-01 5.06626974e-02 1.48895287e+02] [-2.38802708e-01 9.70995047e-01 -1.19115786e-02 -2.84677471e+01] [-5.20412744e-02 -5.48057810e-04 9.98644784e-01 -9.77872399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-28.47, Z:-9.78 [[ 9.69389103e-01 2.40482207e-01 4.95285288e-02 1.48925985e+02] [-2.40200287e-01 9.70653363e-01 -1.16563639e-02 -2.84746277e+01] [-5.08781811e-02 -5.97214633e-04 9.98704688e-01 -9.78128012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264000000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:148.96, Y:-28.48, Z:-9.78 [[ 9.68732531e-01 2.43147077e-01 4.93637811e-02 1.48957778e+02] [-2.42870226e-01 9.69989158e-01 -1.16226916e-02 -2.84826759e+01] [-5.07083559e-02 -7.29713237e-04 9.98713237e-01 -9.78473527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:148.99, Y:-28.49, Z:-9.79 [[ 9.68484756e-01 2.44102116e-01 4.95119612e-02 1.48989914e+02] [-2.43824315e-01 9.69749226e-01 -1.16680102e-02 -2.84896796e+01] [-5.08623721e-02 -7.71930032e-04 9.98705374e-01 -9.78734554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-28.50, Z:-9.79 [[ 9.68330351e-01 2.44777955e-01 4.91943551e-02 1.49020305e+02] [-2.44504026e-01 9.69578839e-01 -1.16041075e-02 -2.84959831e+01] [-5.05382354e-02 -7.91608382e-04 9.98721813e-01 -9.78895292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.05, Y:-28.50, Z:-9.79 [[ 9.68281088e-01 2.44841337e-01 4.98442994e-02 1.49052021e+02] [-2.44559770e-01 9.69562831e-01 -1.17658504e-02 -2.85028516e+01] [-5.12079466e-02 -7.97259916e-04 9.98687694e-01 -9.79170790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:-28.51, Z:-9.79 [[ 9.68671576e-01 2.43239817e-01 5.00976023e-02 1.49082535e+02] [-2.42952757e-01 9.69965923e-01 -1.18349750e-02 -2.85097561e+01] [-5.14717042e-02 -7.07146655e-04 9.98674203e-01 -9.79328710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:-28.52, Z:-9.80 [[ 9.68911456e-01 2.42415322e-01 4.94510008e-02 1.49114691e+02] [-2.42134179e-01 9.70172352e-01 -1.16896278e-02 -2.85176680e+01] [-5.08097387e-02 -6.47563149e-04 9.98708141e-01 -9.79617582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264000000003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:149.15, Y:-28.53, Z:-9.80 [[ 9.69459352e-01 2.40284723e-01 4.91102618e-02 1.49146812e+02] [-2.40004198e-01 9.70702312e-01 -1.16191915e-02 -2.85259303e+01] [-5.04633589e-02 -5.22335114e-04 9.98725776e-01 -9.79860518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.18, Y:-28.53, Z:-9.80 [[ 9.69743919e-01 2.39017650e-01 4.96718713e-02 1.49177409e+02] [-2.38728462e-01 9.71015118e-01 -1.17627545e-02 -2.85342902e+01] [-5.10436439e-02 -4.51229836e-04 9.98696322e-01 -9.80022903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.21, Y:-28.54, Z:-9.80 [[ 9.69944738e-01 2.38014304e-01 5.05608167e-02 1.49209279e+02] [-2.37712796e-01 9.71261568e-01 -1.19830080e-02 -2.85432567e+01] [-5.19599055e-02 -3.96097595e-04 9.98649093e-01 -9.80283497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:-28.55, Z:-9.80 [[ 9.70397411e-01 2.36038149e-01 5.11356799e-02 1.49239794e+02] [-2.35726357e-01 9.71743749e-01 -1.21314229e-02 -2.85516575e+01] [-5.25542558e-02 -2.81726175e-04 9.98618030e-01 -9.80405967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:-28.56, Z:-9.81 [[ 9.70576810e-01 2.35289758e-01 5.11799366e-02 1.49270340e+02] [-2.34976082e-01 9.71925241e-01 -1.21477024e-02 -2.85591689e+01] [-5.26013022e-02 -2.35782732e-04 9.98615565e-01 -9.80594581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:-28.57, Z:-9.81 [[ 9.70628153e-01 2.35089156e-01 5.11280534e-02 1.49301897e+02] [-2.34775324e-01 9.71973787e-01 -1.21451654e-02 -2.85667069e+01] [-5.25503244e-02 -2.15165808e-04 9.98618254e-01 -9.80827987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-28.58, Z:-9.81 [[ 9.70688164e-01 2.34904487e-01 5.08367006e-02 1.49332657e+02] [-2.34593349e-01 9.72018439e-01 -1.20878370e-02 -2.85751912e+01] [-5.22536975e-02 -1.92431520e-04 9.98633824e-01 -9.81082683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-28.58, Z:-9.81 [[ 9.70667072e-01 2.34991979e-01 5.08350725e-02 1.49364340e+02] [-2.34680603e-01 9.71997291e-01 -1.20946796e-02 -2.85828409e+01] [-5.22537055e-02 -1.90098206e-04 9.98633824e-01 -9.81305461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:-28.59, Z:-9.81 [[ 9.70587679e-01 2.35431178e-01 5.03161853e-02 1.49395834e+02] [-2.35126570e-01 9.71891000e-01 -1.19741099e-02 -2.85915122e+01] [-5.17209265e-02 -2.08748523e-04 9.98661555e-01 -9.81480701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:149.43, Y:-28.60, Z:-9.82 [[ 9.70413578e-01 2.36180282e-01 5.01633572e-02 1.49427067e+02] [-2.35877971e-01 9.71709225e-01 -1.19484195e-02 -2.85992619e+01] [-5.15661781e-02 -2.37522420e-04 9.98669551e-01 -9.81663801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:149.46, Y:-28.61, Z:-9.82 [[ 9.70023174e-01 2.37693980e-01 5.05629616e-02 1.49459061e+02] [-2.37388380e-01 9.71340041e-01 -1.20533060e-02 -2.86066702e+01] [-5.19788275e-02 -3.11073379e-04 9.98648139e-01 -9.81824452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-28.61, Z:-9.82 [[ 9.69231480e-01 2.40841331e-01 5.08506735e-02 1.49490376e+02] [-2.40535982e-01 9.70564388e-01 -1.21330435e-02 -2.86131006e+01] [-5.22759912e-02 -4.71688941e-04 9.98632564e-01 -9.81983566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.52, Y:-28.62, Z:-9.82 [[ 9.68813000e-01 2.42522961e-01 5.08329100e-02 1.49521846e+02] [-2.42219607e-01 9.70145509e-01 -1.21389339e-02 -2.86204109e+01] [-5.22592896e-02 -5.52370465e-04 9.98633397e-01 -9.82156927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:-28.63, Z:-9.82 [[ 9.67968330e-01 2.45523985e-01 5.24908017e-02 1.49552715e+02] [-2.45204311e-01 9.69390244e-01 -1.25459828e-02 -2.86268555e+01] [-5.39644108e-02 -7.26856863e-04 9.98542595e-01 -9.82340474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:-28.63, Z:-9.83 [[ 9.67622471e-01 2.46788206e-01 5.29370943e-02 1.49584610e+02] [-2.46464502e-01 9.69069114e-01 -1.26610199e-02 -2.86335315e+01] [-5.44242935e-02 -7.96027224e-04 9.98517583e-01 -9.82548787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.62, Y:-28.64, Z:-9.83 [[ 9.67107666e-01 2.48862615e-01 5.26323261e-02 1.49616528e+02] [-2.48545090e-01 9.68538381e-01 -1.25993369e-02 -2.86386849e+01] [-5.41119318e-02 -8.96590959e-04 9.98534474e-01 -9.82693682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:-28.65, Z:-9.83 [[ 9.66818492e-01 2.49950323e-01 5.27905273e-02 1.49646914e+02] [-2.49631968e-01 9.68258195e-01 -1.26470778e-02 -2.86454144e+01] [-5.42760018e-02 -9.50774527e-04 9.98525519e-01 -9.82965398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:-28.65, Z:-9.83 [[ 9.66562409e-01 2.50988417e-01 5.25540141e-02 1.49677957e+02] [-2.50673858e-01 9.67989580e-01 -1.26012068e-02 -2.86519048e+01] [-5.40344950e-02 -9.94064648e-04 9.98538575e-01 -9.83204283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.71, Y:-28.66, Z:-9.83 [[ 9.66525633e-01 2.51293548e-01 5.17663345e-02 1.49708683e+02] [-2.50988722e-01 9.67910411e-01 -1.24136298e-02 -2.86574272e+01] [-5.32246392e-02 -9.94674700e-04 9.98582069e-01 -9.83382811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:-28.66, Z:-9.84 [[ 9.66337182e-01 2.52038342e-01 5.16635736e-02 1.49738217e+02] [-2.51735687e-01 9.67716699e-01 -1.23908817e-02 -2.86616974e+01] [-5.31186802e-02 -1.03179554e-03 9.98587673e-01 -9.83635776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:-28.67, Z:-9.84 [[ 9.66347196e-01 2.51947916e-01 5.19167063e-02 1.49766185e+02] [-2.51642174e-01 9.67740245e-01 -1.24512782e-02 -2.86671611e+01] [-5.33789597e-02 -1.03217508e-03 9.98573794e-01 -9.83818530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.80, Y:-28.67, Z:-9.84 [[ 9.66638366e-01 2.50797330e-01 5.20669605e-02 1.49796876e+02] [-2.50488279e-01 9.68039127e-01 -1.24848315e-02 -2.86703331e+01] [-5.35340174e-02 -9.73846187e-04 9.98565551e-01 -9.83958746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-28.67, Z:-9.84 [[ 9.66886484e-01 2.49859687e-01 5.19679214e-02 1.49825838e+02] [-2.49550448e-01 9.68281617e-01 -1.24612675e-02 -2.86748259e+01] [-5.34331514e-02 -9.19986950e-04 9.98571005e-01 -9.84193643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-28.68, Z:-9.84 [[ 9.67256595e-01 2.48476483e-01 5.17118706e-02 1.49855754e+02] [-2.48168356e-01 9.68637565e-01 -1.23990223e-02 -2.86802238e+01] [-5.31709259e-02 -8.40213812e-04 9.98585072e-01 -9.84476516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:-28.69, Z:-9.85 [[ 9.68322096e-01 2.44404332e-01 5.11746011e-02 1.49885103e+02] [-2.44096891e-01 9.69673218e-01 -1.22702005e-02 -2.86865743e+01] [-5.26215303e-02 -6.10054732e-04 9.98614341e-01 -9.84725952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:-28.69, Z:-9.85 [[ 9.68969849e-01 2.41809128e-01 5.12423484e-02 1.49915354e+02] [-2.41497263e-01 9.70323722e-01 -1.22860537e-02 -2.86943686e+01] [-5.26925461e-02 -4.70071359e-04 9.98610672e-01 -9.84972318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:-28.70, Z:-9.85 [[ 9.69668288e-01 2.39026795e-01 5.10842679e-02 1.49944526e+02] [-2.38712912e-01 9.71012920e-01 -1.22496707e-02 -2.87025729e+01] [-5.25314837e-02 -3.16357131e-04 9.98619218e-01 -9.85186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:-28.71, Z:-9.85 [[ 9.70938225e-01 2.33722933e-01 5.15029571e-02 1.49975474e+02] [-2.33396511e-01 9.72303240e-01 -1.23482396e-02 -2.87118004e+01] [-5.29625589e-02 -3.12326806e-05 9.98596498e-01 -9.85406245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:-28.72, Z:-9.86 [[ 9.71404847e-01 2.31640314e-01 5.21093839e-02 1.50005432e+02] [-2.31302581e-01 9.72801499e-01 -1.25043889e-02 -2.87185612e+01] [-5.35886074e-02 9.37890233e-05 9.98563094e-01 -9.85609042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-28.73, Z:-9.86 [[ 9.71769695e-01 2.29972445e-01 5.26909291e-02 1.50037663e+02] [-2.29624450e-01 9.73197122e-01 -1.26480773e-02 -2.87262482e+01] [-5.41873698e-02 1.91892636e-04 9.98530767e-01 -9.85809325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:-28.74, Z:-9.86 [[ 9.72362555e-01 2.27348172e-01 5.31401087e-02 1.50069270e+02] [-2.26989689e-01 9.73813475e-01 -1.27669939e-02 -2.87358836e+01] [-5.46511067e-02 3.51890034e-04 9.98505450e-01 -9.86069946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.10, Y:-28.74, Z:-9.86 [[ 9.72573165e-01 2.26535193e-01 5.27564592e-02 1.50101295e+02] [-2.26180087e-01 9.74002896e-01 -1.26856838e-02 -2.87441050e+01] [-5.42586979e-02 4.05295096e-04 9.98526830e-01 -9.86277370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:-28.76, Z:-9.87 [[ 9.72518604e-01 2.26638929e-01 5.33137873e-02 1.50131795e+02] [-2.26275798e-01 9.73978759e-01 -1.28311952e-02 -2.87555457e+01] [-5.48345448e-02 4.14956317e-04 9.98495368e-01 -9.86508265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-28.77, Z:-9.87 [[ 9.72384699e-01 2.27242768e-01 5.31857268e-02 1.50163509e+02] [-2.26881726e-01 9.73838063e-01 -1.28105401e-02 -2.87660498e+01] [-5.47053877e-02 3.89903710e-04 9.98502463e-01 -9.86686279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-28.78, Z:-9.87 [[ 9.72229714e-01 2.27810257e-01 5.35898227e-02 1.50194516e+02] [-2.27443932e-01 9.73705473e-01 -1.29193391e-02 -2.87757413e+01] [-5.51238616e-02 3.71885333e-04 9.98479455e-01 -9.86916580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.23, Y:-28.78, Z:-9.87 [[ 9.72110232e-01 2.28402687e-01 5.32344832e-02 1.50225615e+02] [-2.28041486e-01 9.73566686e-01 -1.28447809e-02 -2.87839542e+01] [-5.47611018e-02 3.46872289e-04 9.98499425e-01 -9.87060983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:-28.80, Z:-9.87 [[ 9.71675708e-01 2.30522782e-01 5.20150597e-02 1.50257090e+02] [-2.30180697e-01 9.73066902e-01 -1.25559293e-02 -2.87952844e+01] [-5.35085608e-02 2.27428813e-04 9.98567365e-01 -9.87428026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.29, Y:-28.80, Z:-9.88 [[ 9.71439109e-01 2.31719481e-01 5.11090945e-02 1.50287539e+02] [-2.31390317e-01 9.72782634e-01 -1.23477733e-02 -2.88042639e+01] [-5.25792592e-02 1.68960284e-04 9.98616740e-01 -9.87618451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:-28.81, Z:-9.88 [[ 9.71019549e-01 2.33449088e-01 5.12109288e-02 1.50318834e+02] [-2.33120502e-01 9.72369023e-01 -1.23820678e-02 -2.88143330e+01] [-5.26865032e-02 8.49124987e-05 9.98611098e-01 -9.87924553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:-28.82, Z:-9.88 [[ 9.70166060e-01 2.36832000e-01 5.18499658e-02 1.50349407e+02] [-2.36499381e-01 9.71550614e-01 -1.25477984e-02 -2.88247551e+01] [-5.33465863e-02 -8.90366962e-05 9.98576053e-01 -9.88173223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:150.38, Y:-28.83, Z:-9.88 [[ 9.69762444e-01 2.38451155e-01 5.19793211e-02 1.50381522e+02] [-2.38118661e-01 9.71154477e-01 -1.25890907e-02 -2.88340435e+01] [-5.34818336e-02 -1.68818967e-04 9.98568808e-01 -9.88305237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:-28.85, Z:-9.89 [[ 9.68720908e-01 2.42308918e-01 5.35368179e-02 1.50411518e+02] [-2.41961419e-01 9.70199074e-01 -1.29780271e-02 -2.88455640e+01] [-5.50860628e-02 -3.81758221e-04 9.98481537e-01 -9.88535218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:-28.85, Z:-9.89 [[ 9.68284416e-01 2.43958200e-01 5.39415100e-02 1.50442074e+02] [-2.43607391e-01 9.69785635e-01 -1.30867208e-02 -2.88540508e+01] [-5.55043144e-02 -4.68882737e-04 9.98458337e-01 -9.88751653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:-28.86, Z:-9.89 [[ 9.67855278e-01 2.45549209e-01 5.44219230e-02 1.50474336e+02] [-2.45194051e-01 9.69383968e-01 -1.32136118e-02 -2.88626938e+01] [-5.60003316e-02 -5.55067811e-04 9.98430596e-01 -9.88946417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:-28.87, Z:-9.89 [[ 9.67508999e-01 2.46812606e-01 5.48623259e-02 1.50504982e+02] [-2.46453061e-01 9.69063027e-01 -1.33318511e-02 -2.88707597e+01] [-5.64555205e-02 -6.22302287e-04 9.98404921e-01 -9.89188994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-28.88, Z:-9.89 [[ 9.67021595e-01 2.48871838e-01 5.41483361e-02 1.50537320e+02] [-2.48524272e-01 9.68536156e-01 -1.31681761e-02 -2.88787911e+01] [-5.57218095e-02 -7.23265209e-04 9.98446071e-01 -9.89490234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:-28.89, Z:-9.90 [[ 9.66891769e-01 2.49596542e-01 5.31213166e-02 1.50569095e+02] [-2.49262568e-01 9.68349636e-01 -1.29288131e-02 -2.88870294e+01] [-5.46669947e-02 -7.40392772e-04 9.98504367e-01 -9.89766890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:-28.90, Z:-9.90 [[ 9.66705932e-01 2.50429870e-01 5.25787205e-02 1.50599140e+02] [-2.50103349e-01 9.68134437e-01 -1.28072799e-02 -2.88972164e+01] [-5.41105954e-02 -7.69240674e-04 9.98534652e-01 -9.90024113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-28.91, Z:-9.90 [[ 9.66560636e-01 2.51009243e-01 5.24871143e-02 1.50631136e+02] [-2.50684203e-01 9.67984367e-01 -1.27943940e-02 -2.89052475e+01] [-5.40182173e-02 -7.91132804e-04 9.98539637e-01 -9.90238908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-28.91, Z:-9.90 [[ 9.66380182e-01 2.51762014e-01 5.22037524e-02 1.50662420e+02] [-2.51440976e-01 9.67788830e-01 -1.27364282e-02 -2.89119730e+01] [-5.37287573e-02 -8.17930592e-04 9.98555232e-01 -9.90437190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-28.92, Z:-9.91 [[ 9.66232726e-01 2.52363592e-01 5.20282198e-02 1.50691800e+02] [-2.52044897e-01 9.67632119e-01 -1.27063698e-02 -2.89178021e+01] [-5.35508017e-02 -8.36136991e-04 9.98564776e-01 -9.90662736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.72, Y:-28.92, Z:-9.91 [[ 9.65999938e-01 2.53350939e-01 5.15501826e-02 1.50723965e+02] [-2.53039603e-01 9.67374032e-01 -1.25873381e-02 -2.89245637e+01] [-5.30573219e-02 -8.84869874e-04 9.98591076e-01 -9.90864582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-28.93, Z:-9.91 [[ 9.65841484e-01 2.53984087e-01 5.14034135e-02 1.50755133e+02] [-2.53674834e-01 9.67207972e-01 -1.25625006e-02 -2.89321439e+01] [-5.29084666e-02 -9.06368164e-04 9.98598955e-01 -9.91186267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-28.94, Z:-9.91 [[ 9.65836903e-01 2.54069830e-01 5.10646413e-02 1.50787807e+02] [-2.53764248e-01 9.67185463e-01 -1.24894664e-02 -2.89371727e+01] [-5.25621754e-02 -8.95592744e-04 9.98617252e-01 -9.91453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:-28.94, Z:-9.92 [[ 9.65878624e-01 2.53871362e-01 5.12622116e-02 1.50818140e+02] [-2.53562530e-01 9.67237593e-01 -1.25491694e-02 -2.89435450e+01] [-5.27686129e-02 -8.77201550e-04 9.98606381e-01 -9.91623330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-28.95, Z:-9.92 [[ 9.66035502e-01 2.53204055e-01 5.16053879e-02 1.50848515e+02] [-2.52889648e-01 9.67412531e-01 -1.26420452e-02 -2.89500818e+01] [-5.31247161e-02 -8.37803860e-04 9.98587534e-01 -9.91811054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.88, Y:-28.96, Z:-9.92 [[ 9.66901746e-01 2.49598659e-01 5.29294152e-02 1.50880159e+02] [-2.49262027e-01 9.68349157e-01 -1.29750471e-02 -2.89575404e+01] [-5.44927089e-02 -6.47697592e-04 9.98513958e-01 -9.92026503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:-28.97, Z:-9.92 [[ 9.67443111e-01 2.47281772e-01 5.39031683e-02 1.50910753e+02] [-2.46928344e-01 9.68943476e-01 -1.32262035e-02 -2.89660986e+01] [-5.54997224e-02 -5.14620636e-04 9.98458570e-01 -9.92184933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:-28.97, Z:-9.92 [[ 9.67971246e-01 2.45053950e-01 5.45914641e-02 1.50942712e+02] [-2.44687538e-01 9.69509367e-01 -1.34013424e-02 -2.89739682e+01] [-5.62109877e-02 -3.85736847e-04 9.98418838e-01 -9.92359660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.97, Y:-28.98, Z:-9.92 [[ 9.68479964e-01 2.42916256e-01 5.51203424e-02 1.50974219e+02] [-2.42538572e-01 9.70047230e-01 -1.35429820e-02 -2.89805713e+01] [-5.67591459e-02 -2.52702387e-04 9.98387868e-01 -9.92471355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:-28.99, Z:-9.93 [[ 9.69101937e-01 2.40088120e-01 5.65608644e-02 1.51005506e+02] [-2.39684904e-01 9.70751095e-01 -1.39089204e-02 -2.89871264e+01] [-5.82458876e-02 -7.76236748e-05 9.98302264e-01 -9.92651606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:151.04, Y:-28.99, Z:-9.93 [[ 9.69264864e-01 2.39549863e-01 5.60489620e-02 1.51037620e+02] [-2.39152660e-01 9.70884062e-01 -1.37892559e-02 -2.89942621e+01] [-5.77202582e-02 -3.88171390e-05 9.98332795e-01 -9.92914128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:-29.00, Z:-9.93 [[ 9.69281362e-01 2.39664994e-01 5.52660019e-02 1.51068838e+02] [-2.39278344e-01 9.70855648e-01 -1.36082594e-02 -2.90016877e+01] [-5.69167335e-02 -3.37251936e-05 9.98378928e-01 -9.93135671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:-29.01, Z:-9.93 [[ 9.69093372e-01 2.40431035e-01 5.52354348e-02 1.51100503e+02] [-2.40045444e-01 9.70666221e-01 -1.36114732e-02 -2.90087586e+01] [-5.68877913e-02 -6.82259457e-05 9.98380576e-01 -9.93388472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.13, Y:-29.02, Z:-9.94 [[ 9.68969380e-01 2.40953819e-01 5.51325413e-02 1.51131246e+02] [-2.40569805e-01 9.70536578e-01 -1.35985081e-02 -2.90158016e+01] [-5.67847604e-02 -8.66867468e-05 9.98386440e-01 -9.93528390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-29.02, Z:-9.94 [[ 9.68910855e-01 2.41140134e-01 5.53460969e-02 1.51162523e+02] [-2.40753066e-01 9.70490303e-01 -1.36577405e-02 -2.90223520e+01] [-5.70062797e-02 -9.16094442e-05 9.98373816e-01 -9.93844246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:-29.03, Z:-9.94 [[ 9.69084570e-01 2.40419799e-01 5.54384097e-02 1.51194393e+02] [-2.40029654e-01 9.70669006e-01 -1.36911139e-02 -2.90299240e+01] [-5.71039609e-02 -3.90150188e-05 9.98368237e-01 -9.94117061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-29.04, Z:-9.94 [[ 9.69360154e-01 2.39335302e-01 5.53127890e-02 1.51225220e+02] [-2.38944446e-01 9.70936976e-01 -1.36725982e-02 -2.90375328e+01] [-5.69775675e-02 3.69882268e-05 9.98375458e-01 -9.94312703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:151.26, Y:-29.04, Z:-9.94 [[ 9.69992078e-01 2.36681438e-01 5.56530921e-02 1.51256790e+02] [-2.36280963e-01 9.71587287e-01 -1.37640884e-02 -2.90444725e+01] [-5.73295410e-02 2.01290538e-04 9.98355289e-01 -9.94473861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-29.05, Z:-9.95 [[ 9.70325912e-01 2.35306404e-01 5.56643529e-02 1.51287581e+02] [-2.34903130e-01 9.71921197e-01 -1.37734091e-02 -2.90535437e+01] [-5.73423358e-02 2.88965055e-04 9.98354533e-01 -9.94762743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-29.06, Z:-9.95 [[ 9.70306145e-01 2.35388550e-01 5.56616110e-02 1.51319994e+02] [-2.34984776e-01 9.71901303e-01 -1.37844801e-02 -2.90617100e+01] [-5.73423011e-02 2.95534592e-04 9.98354533e-01 -9.94991218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-29.07, Z:-9.95 [[ 9.70615295e-01 2.34155522e-01 5.54719775e-02 1.51350502e+02] [-2.33752263e-01 9.72199082e-01 -1.37413710e-02 -2.90707678e+01] [-5.71474234e-02 3.70884542e-04 9.98365682e-01 -9.95268501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:-29.08, Z:-9.96 [[ 9.71153358e-01 2.31914045e-01 5.54709959e-02 1.51380521e+02] [-2.31506543e-01 9.72736147e-01 -1.37516724e-02 -2.90811834e+01] [-5.71478488e-02 5.13084365e-04 9.98365594e-01 -9.95541456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.41, Y:-29.09, Z:-9.96 [[ 9.71303986e-01 2.31348915e-01 5.51928038e-02 1.51412280e+02] [-2.30943999e-01 9.72870687e-01 -1.36929242e-02 -2.90898871e+01] [-5.68633040e-02 5.53545001e-04 9.98381820e-01 -9.95724249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:-29.10, Z:-9.96 [[ 9.71417851e-01 2.30839821e-01 5.53203037e-02 1.51443853e+02] [-2.30431572e-01 9.72991584e-01 -1.37356626e-02 -2.91011515e+01] [-5.69969278e-02 5.95523337e-04 9.98374176e-01 -9.96034335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:-29.11, Z:-9.96 [[ 9.71358940e-01 2.31095919e-01 5.52854907e-02 1.51475133e+02] [-2.30687974e-01 9.72930793e-01 -1.37379620e-02 -2.91107950e+01] [-5.69637432e-02 5.90794363e-04 9.98376073e-01 -9.96240368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:-29.12, Z:-9.96 [[ 9.71198923e-01 2.31811249e-01 5.51017017e-02 1.51506468e+02] [-2.31406521e-01 9.72760625e-01 -1.37035911e-02 -2.91205003e+01] [-5.67774123e-02 5.58019794e-04 9.98386706e-01 -9.96457905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:-29.13, Z:-9.97 [[ 9.70690807e-01 2.33990723e-01 5.48424971e-02 1.51537258e+02] [-2.33592636e-01 9.72238730e-01 -1.36503460e-02 -2.91318972e+01] [-5.65140541e-02 4.39461912e-04 9.98401707e-01 -9.96660989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:-29.14, Z:-9.97 [[ 9.70161857e-01 2.36097974e-01 5.51698912e-02 1.51568228e+02] [-2.35697820e-01 9.71729200e-01 -1.37440983e-02 -2.91415046e+01] [-5.68551480e-02 3.30576863e-04 9.98382383e-01 -9.96868067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-29.15, Z:-9.97 [[ 9.69537360e-01 2.38614716e-01 5.53201986e-02 1.51599754e+02] [-2.38215829e-01 9.71114298e-01 -1.37927359e-02 -2.91510196e+01] [-5.70133856e-02 1.94425768e-04 9.98373395e-01 -9.97109291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:-29.16, Z:-9.97 [[ 9.68820350e-01 2.41562963e-01 5.50859691e-02 1.51630106e+02] [-2.41171543e-01 9.70385147e-01 -1.37460158e-02 -2.91602634e+01] [-5.67751345e-02 3.22517211e-05 9.98386991e-01 -9.97305012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:151.66, Y:-29.17, Z:-9.97 [[ 9.67128004e-01 2.48181721e-01 5.54008734e-02 1.51660534e+02] [-2.47795969e-01 9.68713432e-01 -1.38363362e-02 -2.91687982e+01] [-5.71014959e-02 -3.46604895e-04 9.98368318e-01 -9.97407123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.69, Y:-29.18, Z:-9.98 [[ 9.66129488e-01 2.51890327e-01 5.60809685e-02 1.51692646e+02] [-2.51500916e-01 9.67755621e-01 -1.40123943e-02 -2.91756054e+01] [-5.78022590e-02 -5.66627580e-04 9.98327891e-01 -9.97591437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:-29.18, Z:-9.98 [[ 9.64038125e-01 2.59793731e-01 5.60152682e-02 1.51724402e+02] [-2.59417850e-01 9.65663586e-01 -1.40077595e-02 -2.91815942e+01] [-5.77310329e-02 -1.02734619e-03 9.98331645e-01 -9.97853615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:-29.19, Z:-9.98 [[ 9.63059628e-01 2.63414318e-01 5.59379140e-02 1.51755709e+02] [-2.63044933e-01 9.64682010e-01 -1.39994160e-02 -2.91884545e+01] [-5.76499459e-02 -1.23191246e-03 9.98336099e-01 -9.98129904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:-29.19, Z:-9.98 [[ 9.62284426e-01 2.66289563e-01 5.56646427e-02 1.51784974e+02] [-2.65927917e-01 9.63892083e-01 -1.39425857e-02 -2.91947971e+01] [-5.73674735e-02 -1.38604941e-03 9.98352168e-01 -9.98411657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-29.20, Z:-9.99 [[ 9.61294959e-01 2.69926866e-01 5.52402784e-02 1.51816595e+02] [-2.69576674e-01 9.62879514e-01 -1.38368397e-02 -2.91990451e+01] [-5.69246672e-02 -1.59020630e-03 9.98377210e-01 -9.98677160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:-29.20, Z:-9.99 [[ 9.60977581e-01 2.71077490e-01 5.51278831e-02 1.51847677e+02] [-2.70730532e-01 9.62556107e-01 -1.38101129e-02 -2.92048279e+01] [-5.68072913e-02 -1.65359223e-03 9.98383793e-01 -9.98861956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-29.21, Z:-9.99 [[ 9.60821461e-01 2.71606256e-01 5.52463741e-02 1.51876870e+02] [-2.71258571e-01 9.62406981e-01 -1.38416323e-02 -2.92100157e+01] [-5.69289700e-02 -1.68671517e-03 9.98376806e-01 -9.99067331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-29.21, Z:-9.99 [[ 9.60933047e-01 2.71247013e-01 5.50702869e-02 1.51906381e+02] [-2.70900986e-01 9.62508338e-01 -1.37969531e-02 -2.92143613e+01] [-5.67479926e-02 -1.66064683e-03 9.98387153e-01 -9.99272263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:-29.22, Z:-9.99 [[ 9.61110248e-01 2.70628123e-01 5.50228132e-02 1.51934620e+02] [-2.70281751e-01 9.62682597e-01 -1.37838009e-02 -2.92195473e+01] [-5.66997889e-02 -1.62390998e-03 9.98389952e-01 -9.99479267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:-29.23, Z:-10.00 [[ 9.61303485e-01 2.69903200e-01 5.52075339e-02 1.51964131e+02] [-2.69553431e-01 9.62886151e-01 -1.38278286e-02 -2.92252414e+01] [-5.68907450e-02 -1.58864038e-03 9.98379146e-01 -9.99679016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-29.23, Z:-10.00 [[ 9.61479797e-01 2.69197628e-01 5.55808981e-02 1.51992225e+02] [-2.68842012e-01 9.63083697e-01 -1.39199605e-02 -2.92298540e+01] [-5.72762772e-02 -1.55871967e-03 9.98357150e-01 -9.99843950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-29.23, Z:-10.00 [[ 9.61762675e-01 2.67932504e-01 5.67867086e-02 1.52022213e+02] [-2.67559171e-01 9.63436491e-01 -1.42203657e-02 -2.92323631e+01] [-5.85204855e-02 -1.51718768e-03 9.98285055e-01 -9.99989008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-29.24, Z:-10.00 [[ 9.61991632e-01 2.67024138e-01 5.71857399e-02 1.52050465e+02] [-2.66644014e-01 9.63688714e-01 -1.43189238e-02 -2.92374377e+01] [-5.89327505e-02 -1.47355036e-03 9.98260868e-01 -1.00019374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:-29.24, Z:-10.00 [[ 9.62670076e-01 2.64497272e-01 5.75110244e-02 1.52078199e+02] [-2.64108422e-01 9.64385519e-01 -1.43983518e-02 -2.92396296e+01] [-5.92711239e-02 -1.32828352e-03 9.98241038e-01 -1.00037077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:-29.24, Z:-10.01 [[ 9.63075630e-01 2.63017926e-01 5.75056603e-02 1.52107047e+02] [-2.62626731e-01 9.64790149e-01 -1.43933476e-02 -2.92444464e+01] [-5.92666030e-02 -1.24064127e-03 9.98241419e-01 -1.00053941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.14, Y:-29.25, Z:-10.01 [[ 9.63577108e-01 2.61180261e-01 5.74806854e-02 1.52135598e+02] [-2.60786307e-01 9.65289384e-01 -1.43842589e-02 -2.92489804e+01] [-5.92423799e-02 -1.12983308e-03 9.98242988e-01 -1.00072670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.16, Y:-29.25, Z:-10.01 [[ 9.64689253e-01 2.57170543e-01 5.69030446e-02 1.52163589e+02] [-2.56777673e-01 9.66365636e-01 -1.42367421e-02 -2.92533701e+01] [-5.86504175e-02 -8.77399292e-04 9.98278197e-01 -1.00096882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-29.26, Z:-10.01 [[ 9.65205214e-01 2.55289551e-01 5.66227873e-02 1.52192139e+02] [-2.54897440e-01 9.66864347e-01 -1.41643915e-02 -2.92600756e+01] [-5.83625754e-02 -7.61458974e-04 9.98295162e-01 -1.00118774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:-29.27, Z:-10.01 [[ 9.65707321e-01 2.53390547e-01 5.65915299e-02 1.52221094e+02] [-2.52995695e-01 9.67363846e-01 -1.41551069e-02 -2.92668682e+01] [-5.83313703e-02 -6.47723101e-04 9.98297066e-01 -1.00141324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-29.27, Z:-10.02 [[ 9.66168078e-01 2.51614475e-01 5.66515691e-02 1.52249898e+02] [-2.51215826e-01 9.67827392e-01 -1.41685325e-02 -2.92737924e+01] [-5.83939483e-02 -5.42586886e-04 9.98293470e-01 -1.00167021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-29.28, Z:-10.02 [[ 9.67006559e-01 2.48471336e-01 5.62166343e-02 1.52278402e+02] [-2.48073520e-01 9.68639186e-01 -1.40590348e-02 -2.92818799e+01] [-5.79469020e-02 -3.50679444e-04 9.98319605e-01 -1.00193603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:-29.29, Z:-10.02 [[ 9.67396688e-01 2.47059856e-01 5.57232115e-02 1.52307102e+02] [-2.46666691e-01 9.69000184e-01 -1.39350643e-02 -2.92895196e+01] [-5.74385972e-02 -2.64325189e-04 9.98349006e-01 -1.00218829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-29.30, Z:-10.02 [[ 9.67951524e-01 2.44881043e-01 5.57056756e-02 1.52334342e+02] [-2.44484591e-01 9.69553122e-01 -1.39294027e-02 -2.92964004e+01] [-5.74206584e-02 -1.36192808e-04 9.98350064e-01 -1.00238942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:-29.30, Z:-10.03 [[ 9.68098204e-01 2.44260484e-01 5.58809708e-02 1.52362747e+02] [-2.43860628e-01 9.69709650e-01 -1.39709932e-02 -2.93038308e+01] [-5.76008782e-02 -1.01875177e-04 9.98339686e-01 -1.00260869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:152.39, Y:-29.31, Z:-10.03 [[ 9.68391577e-01 2.43116612e-01 5.57859009e-02 1.52391017e+02] [-2.42716324e-01 9.69997068e-01 -1.39454208e-02 -2.93131893e+01] [-5.75025238e-02 -3.55207043e-05 9.98345360e-01 -1.00273926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-29.32, Z:-10.03 [[ 9.68471615e-01 2.42642970e-01 5.64545903e-02 1.52420116e+02] [-2.42232160e-01 9.70115658e-01 -1.41135215e-02 -2.93224548e+01] [-5.81920288e-02 -6.57239570e-06 9.98305408e-01 -1.00299066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:-29.33, Z:-10.03 [[ 9.68494145e-01 2.42575642e-01 5.63573378e-02 1.52451001e+02] [-2.42166237e-01 9.70132495e-01 -1.40874352e-02 -2.93315469e+01] [-5.80913534e-02 -4.24596991e-06 9.98311271e-01 -1.00321940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-29.34, Z:-10.04 [[ 9.68451877e-01 2.42903775e-01 5.56661331e-02 1.52481022e+02] [-2.42504282e-01 9.70050388e-01 -1.39254206e-02 -2.93398741e+01] [-5.73814913e-02 -1.31758901e-05 9.98352325e-01 -1.00353581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-29.35, Z:-10.04 [[ 9.68315663e-01 2.43484045e-01 5.55004225e-02 1.52511153e+02] [-2.43087507e-01 9.69904902e-01 -1.38904994e-02 -2.93481023e+01] [-5.72122468e-02 -4.10711833e-05 9.98362037e-01 -1.00380147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-29.36, Z:-10.04 [[ 9.68156244e-01 2.44138952e-01 5.54045061e-02 1.52540018e+02] [-2.43744766e-01 9.69740257e-01 -1.38680562e-02 -2.93566456e+01] [-5.71137127e-02 -7.81131981e-05 9.98367677e-01 -1.00398907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:-29.37, Z:-10.04 [[ 9.67943924e-01 2.44833220e-01 5.60468885e-02 1.52570966e+02] [-2.44431053e-01 9.69565201e-01 -1.40278616e-02 -2.93660276e+01] [-5.77755993e-02 -1.21416552e-04 9.98329588e-01 -1.00421836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:-29.38, Z:-10.04 [[ 9.67450600e-01 2.46604266e-01 5.67950063e-02 1.52600789e+02] [-2.46193703e-01 9.69116241e-01 -1.42257913e-02 -2.93755374e+01] [-5.85491038e-02 -2.19822572e-04 9.98284506e-01 -1.00433254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:-29.38, Z:-10.05 [[ 9.67201890e-01 2.47585395e-01 5.67624514e-02 1.52631282e+02] [-2.47176434e-01 9.68866038e-01 -1.42271254e-02 -2.93844120e+01] [-5.85176399e-02 -2.69837775e-04 9.98286338e-01 -1.00456084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-29.39, Z:-10.05 [[ 9.66798727e-01 2.49194392e-01 5.65895479e-02 1.52660881e+02] [-2.48790070e-01 9.68453421e-01 -1.41941064e-02 -2.93948132e+01] [-5.83414329e-02 -3.56073621e-04 9.98296624e-01 -1.00476980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-29.40, Z:-10.05 [[ 9.66582570e-01 2.49953506e-01 5.69331105e-02 1.52691379e+02] [-2.49544932e-01 9.68257760e-01 -1.42911616e-02 -2.94027906e+01] [-5.86980520e-02 -3.93781501e-04 9.98275705e-01 -1.00499891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:-29.41, Z:-10.05 [[ 9.66163673e-01 2.51478974e-01 5.73243599e-02 1.52721548e+02] [-2.51067357e-01 9.67862638e-01 -1.43908034e-02 -2.94118502e+01] [-5.91010907e-02 -4.88404067e-04 9.98251883e-01 -1.00528985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:152.75, Y:-29.42, Z:-10.05 [[ 9.66048371e-01 2.51986176e-01 5.70395683e-02 1.52752377e+02] [-2.51579526e-01 9.67730696e-01 -1.43193004e-02 -2.94210432e+01] [-5.88072069e-02 -5.16850695e-04 9.98269225e-01 -1.00549773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:-29.43, Z:-10.06 [[ 9.65832357e-01 2.52766241e-01 5.72458431e-02 1.52782906e+02] [-2.52357364e-01 9.67527219e-01 -1.43820142e-02 -2.94311624e+01] [-5.90221990e-02 -5.55795327e-04 9.98256516e-01 -1.00578654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:-29.44, Z:-10.06 [[ 9.65578591e-01 2.53774415e-01 5.70660197e-02 1.52813179e+02] [-2.53369415e-01 9.67263241e-01 -1.43444398e-02 -2.94400677e+01] [-5.88381150e-02 -6.08100043e-04 9.98267352e-01 -1.00596487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-29.45, Z:-10.06 [[ 9.64902707e-01 2.56437976e-01 5.65891394e-02 1.52844838e+02] [-2.56044003e-01 9.66560390e-01 -1.42295587e-02 -2.94474559e+01] [-5.83458199e-02 -7.59170097e-04 9.98296143e-01 -1.00619981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:152.88, Y:-29.46, Z:-10.06 [[ 9.64478032e-01 2.58120117e-01 5.61794476e-02 1.52876201e+02] [-2.57734095e-01 9.66112463e-01 -1.41366637e-02 -2.94551994e+01] [-5.79246218e-02 -8.44857504e-04 9.98320602e-01 -1.00639299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:-29.46, Z:-10.07 [[ 9.64035390e-01 2.59690084e-01 5.65404975e-02 1.52905390e+02] [-2.59301082e-01 9.65691560e-01 -1.42393996e-02 -2.94634131e+01] [-5.82985121e-02 -9.33727012e-04 9.98298759e-01 -1.00668014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:-29.47, Z:-10.07 [[ 9.63276102e-01 2.62438540e-01 5.67905218e-02 1.52936115e+02] [-2.62050819e-01 9.64948078e-01 -1.43029757e-02 -2.94712861e+01] [-5.85535569e-02 -1.10428801e-03 9.98283658e-01 -1.00684214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:-29.48, Z:-10.07 [[ 9.62875575e-01 2.63881997e-01 5.68939157e-02 1.52965881e+02] [-2.63495284e-01 9.64554233e-01 -1.43306126e-02 -2.94779173e+01] [-5.86588579e-02 -1.19268163e-03 9.98277374e-01 -1.00703688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-29.48, Z:-10.07 [[ 9.62272542e-01 2.65916448e-01 5.76194281e-02 1.52996008e+02] [-2.65523390e-01 9.63995159e-01 -1.45142192e-02 -2.94818991e+01] [-5.94044194e-02 -1.33267128e-03 9.98233109e-01 -1.00726591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:-29.49, Z:-10.07 [[ 9.62120742e-01 2.66456190e-01 5.76608796e-02 1.53024527e+02] [-2.66063527e-01 9.63846062e-01 -1.45247678e-02 -2.94875758e+01] [-5.94464260e-02 -1.36687661e-03 9.98230562e-01 -1.00742851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:-29.49, Z:-10.08 [[ 9.62028829e-01 2.66734272e-01 5.79082126e-02 1.53054709e+02] [-2.66338785e-01 9.63769108e-01 -1.45862297e-02 -2.94936049e+01] [-5.97007937e-02 -1.39082952e-03 9.98215348e-01 -1.00760144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:-29.50, Z:-10.08 [[ 9.61920870e-01 2.67006514e-01 5.84445110e-02 1.53083651e+02] [-2.66604157e-01 9.63693677e-01 -1.47214139e-02 -2.94987810e+01] [-6.02533191e-02 -1.42071439e-03 9.98182107e-01 -1.00778695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:-29.50, Z:-10.08 [[ 9.61860179e-01 2.67278820e-01 5.81981819e-02 1.53112603e+02] [-2.66880375e-01 9.63618172e-01 -1.46589115e-02 -2.95024173e+01] [-5.99988422e-02 -1.43212940e-03 9.98197419e-01 -1.00801496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-29.51, Z:-10.08 [[ 9.61973194e-01 2.66989531e-01 5.76555634e-02 1.53140618e+02] [-2.66598135e-01 9.63698407e-01 -1.45194245e-02 -2.95079874e+01] [-5.94391090e-02 -1.40356859e-03 9.98230946e-01 -1.00823766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.17, Y:-29.51, Z:-10.08 [[ 9.62245583e-01 2.66109363e-01 5.71773103e-02 1.53168756e+02] [-2.65723051e-01 9.63941912e-01 -1.43961985e-02 -2.95129552e+01] [-5.89465690e-02 -1.34065090e-03 9.98260239e-01 -1.00836304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03264000000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.20, Y:-29.52, Z:-10.09 [[ 9.62945081e-01 2.63636274e-01 5.68567161e-02 1.53195994e+02] [-2.63250131e-01 9.64621434e-01 -1.43128550e-02 -2.95163585e+01] [-5.86185948e-02 -1.18504458e-03 9.98279748e-01 -1.00862618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.22, Y:-29.52, Z:-10.09 [[ 9.62954173e-01 2.63602844e-01 5.68577324e-02 1.53224393e+02] [-2.63216881e-01 9.64630567e-01 -1.43088166e-02 -2.95234197e+01] [-5.86185514e-02 -1.18718028e-03 9.98279748e-01 -1.00882615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.25, Y:-29.53, Z:-10.09 [[ 9.63502885e-01 2.61691266e-01 5.63903598e-02 1.53252759e+02] [-2.61308467e-01 9.65151050e-01 -1.41892756e-02 -2.95285955e+01] [-5.81384245e-02 -1.06387050e-03 9.98307964e-01 -1.00897246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:153.28, Y:-29.53, Z:-10.09 [[ 9.64637039e-01 2.57453458e-01 5.65075280e-02 1.53280173e+02] [-2.57061952e-01 9.66290358e-01 -1.42160558e-02 -2.95329234e+01] [-5.82626522e-02 -8.12601464e-04 9.98300958e-01 -1.00923958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:-29.54, Z:-10.09 [[ 9.65246149e-01 2.55089067e-01 5.68281563e-02 1.53307632e+02] [-2.54689220e-01 9.66917323e-01 -1.42930665e-02 -2.95398119e+01] [-5.85941338e-02 -6.77191412e-04 9.98281658e-01 -1.00944362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:-29.55, Z:-10.10 [[ 9.65946472e-01 2.52401070e-01 5.69307760e-02 1.53335966e+02] [-2.51995278e-01 9.67622567e-01 -1.43160026e-02 -2.95467927e+01] [-5.87008780e-02 -5.17794525e-04 9.98275482e-01 -1.00959486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-29.55, Z:-10.10 [[ 9.67012554e-01 2.47996432e-01 5.81763701e-02 1.53364837e+02] [-2.47564893e-01 9.68760911e-01 -1.46260463e-02 -2.95528542e+01] [-5.99862006e-02 -2.58856402e-04 9.98199173e-01 -1.00973309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-29.56, Z:-10.10 [[ 9.67368695e-01 2.46426988e-01 5.89198359e-02 1.53392869e+02] [-2.45981514e-01 9.69161345e-01 -1.48115508e-02 -2.95596849e+01] [-6.07527932e-02 -1.64959924e-04 9.98152829e-01 -1.00993016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:-29.57, Z:-10.10 [[ 9.67589223e-01 2.45594237e-01 5.87755593e-02 1.53421156e+02] [-2.45149548e-01 9.69372713e-01 -1.47730006e-02 -2.95671937e+01] [-6.06035872e-02 -1.14605665e-04 9.98161907e-01 -1.01011713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:-29.58, Z:-10.10 [[ 9.67485888e-01 2.46402268e-01 5.70699429e-02 1.53452360e+02] [-2.45984632e-01 9.69167630e-01 -1.43410380e-02 -2.95750185e+01] [-5.88440056e-02 -1.63576976e-04 9.98267177e-01 -1.01036191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.48, Y:-29.58, Z:-10.11 [[ 9.67158562e-01 2.47823645e-01 5.64602256e-02 1.53481527e+02] [-2.47416617e-01 9.68805133e-01 -1.41997275e-02 -2.95812996e+01] [-5.82179846e-02 -2.35810020e-04 9.98303867e-01 -1.01056204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:153.51, Y:-29.59, Z:-10.11 [[ 9.66447599e-01 2.50813136e-01 5.54239050e-02 1.53508331e+02] [-2.50425740e-01 9.68035436e-01 -1.39406919e-02 -2.95873630e+01] [-5.71488128e-02 -4.06624208e-04 9.98365588e-01 -1.01074925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.54, Y:-29.59, Z:-10.11 [[ 9.66041741e-01 2.52441944e-01 5.51037060e-02 1.53536796e+02] [-2.52061909e-01 9.67611911e-01 -1.38558207e-02 -2.95939601e+01] [-5.68167926e-02 -5.04244113e-04 9.98384494e-01 -1.01090419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:-29.60, Z:-10.11 [[ 9.65606180e-01 2.54117400e-01 5.50368256e-02 1.53563774e+02] [-2.53741061e-01 9.67173192e-01 -1.38380169e-02 -2.95998297e+01] [-5.67466232e-02 -6.03027854e-04 9.98388430e-01 -1.01114265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:-29.61, Z:-10.11 [[ 9.65170024e-01 2.55774641e-01 5.50105165e-02 1.53592379e+02] [-2.55401558e-01 9.66736178e-01 -1.38277450e-02 -2.96056206e+01] [-5.67174430e-02 -7.03646575e-04 9.98390022e-01 -1.01128180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:-29.61, Z:-10.11 [[ 9.64306005e-01 2.58865795e-01 5.56994524e-02 1.53619354e+02] [-2.58488599e-01 9.65912880e-01 -1.39982912e-02 -2.96116664e+01] [-5.74244973e-02 -8.99037127e-04 9.98349447e-01 -1.01139816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:-29.62, Z:-10.12 [[ 9.63999038e-01 2.59980119e-01 5.58228615e-02 1.53647382e+02] [-2.59603316e-01 9.65613481e-01 -1.40258172e-02 -2.96192130e+01] [-5.75497412e-02 -9.70925619e-04 9.98342168e-01 -1.01156716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:-29.63, Z:-10.12 [[ 9.63659511e-01 2.61202157e-01 5.59801757e-02 1.53674569e+02] [-2.60825441e-01 9.65283550e-01 -1.40626301e-02 -2.96265191e+01] [-5.77099321e-02 -1.04946673e-03 9.98332841e-01 -1.01175630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:-29.63, Z:-10.12 [[ 9.62904024e-01 2.63769503e-01 5.69340786e-02 1.53702376e+02] [-2.63384523e-01 9.64584959e-01 -1.42986079e-02 -2.96317616e+01] [-5.86892926e-02 -1.22736810e-03 9.98275543e-01 -1.01193299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:-29.64, Z:-10.12 [[ 9.62619090e-01 2.64871962e-01 5.66333061e-02 1.53729680e+02] [-2.64493150e-01 9.64282727e-01 -1.42196022e-02 -2.96374763e+01] [-5.83768928e-02 -1.29106097e-03 9.98293780e-01 -1.01214795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:-29.64, Z:-10.12 [[ 9.62116015e-01 2.66977044e-01 5.52813860e-02 1.53756160e+02] [-2.66619770e-01 9.63701889e-01 -1.38768430e-02 -2.96427235e+01] [-5.69795747e-02 -1.38797752e-03 9.98374379e-01 -1.01236024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-29.65, Z:-10.13 [[ 9.61867440e-01 2.67903534e-01 5.51246225e-02 1.53783398e+02] [-2.67550069e-01 9.63444660e-01 -1.38328233e-02 -2.96481628e+01] [-5.68153854e-02 -1.44325422e-03 9.98383658e-01 -1.01256510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:-29.65, Z:-10.13 [[ 9.61697688e-01 2.68525416e-01 5.50604970e-02 1.53811068e+02] [-2.68174008e-01 9.63271460e-01 -1.38129170e-02 -2.96531883e+01] [-5.67473246e-02 -1.48194385e-03 9.98387472e-01 -1.01278161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.84, Y:-29.66, Z:-10.13 [[ 9.61497861e-01 2.69238432e-01 5.50684072e-02 1.53838863e+02] [-2.68888329e-01 9.63072339e-01 -1.38107078e-02 -2.96578005e+01] [-5.67532331e-02 -1.52828601e-03 9.98387067e-01 -1.01301605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-29.66, Z:-10.13 [[ 9.61532304e-01 2.69151719e-01 5.48906134e-02 1.53866122e+02] [-2.68803975e-01 9.63096586e-01 -1.37618608e-02 -2.96635549e+01] [-5.65689909e-02 -1.52234132e-03 9.98397532e-01 -1.01325643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:-29.67, Z:-10.13 [[ 9.61643017e-01 2.68778791e-01 5.47783693e-02 1.53893443e+02] [-2.68432048e-01 9.63200763e-01 -1.37304576e-02 -2.96681748e+01] [-5.64530229e-02 -1.50047120e-03 9.98404129e-01 -1.01343627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81264000000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.92, Y:-29.67, Z:-10.14 [[ 9.62005664e-01 2.67519473e-01 5.45750295e-02 1.53919945e+02] [-2.67173498e-01 9.63551400e-01 -1.36755599e-02 -2.96716934e+01] [-5.62443246e-02 -1.42503549e-03 9.98416018e-01 -1.01371115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:-29.68, Z:-10.14 [[ 9.62300894e-01 2.66546536e-01 5.41288609e-02 1.53947570e+02] [-2.66204929e-01 9.63821088e-01 -1.35589673e-02 -2.96782158e+01] [-5.57846334e-02 -1.36156321e-03 9.98441897e-01 -1.01387833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:-29.68, Z:-10.14 [[ 9.62541058e-01 2.65705792e-01 5.39920719e-02 1.53974112e+02] [-2.65364803e-01 9.64053270e-01 -1.35208639e-02 -2.96838920e+01] [-5.56438053e-02 -1.31320894e-03 9.98449820e-01 -1.01403727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-29.69, Z:-10.14 [[ 9.62977209e-01 2.64040501e-01 5.43829906e-02 1.54001941e+02] [-2.63692172e-01 9.64510809e-01 -1.36139004e-02 -2.96870738e+01] [-5.60476033e-02 -1.23049310e-03 9.98427339e-01 -1.01423344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:-29.69, Z:-10.14 [[ 9.63258202e-01 2.62939991e-01 5.47375401e-02 1.54029339e+02] [-2.62585554e-01 9.64811471e-01 -1.36986545e-02 -2.96930638e+01] [-5.64133306e-02 -1.17794602e-03 9.98406805e-01 -1.01439601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:-29.70, Z:-10.14 [[ 9.63726064e-01 2.61070916e-01 5.54441154e-02 1.54056037e+02] [-2.60704406e-01 9.65319013e-01 -1.38713956e-02 -2.96969062e+01] [-5.71426767e-02 -1.08629972e-03 9.98365431e-01 -1.01448966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:-29.70, Z:-10.15 [[ 9.63960671e-01 2.60138306e-01 5.57484260e-02 1.54083435e+02] [-2.59766489e-01 9.65570804e-01 -1.39425321e-02 -2.97015794e+01] [-5.74560392e-02 -1.04152033e-03 9.98347494e-01 -1.01472088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-29.71, Z:-10.15 [[ 9.64315367e-01 2.58803763e-01 5.58254815e-02 1.54111173e+02] [-2.58428930e-01 9.65929436e-01 -1.39575045e-02 -2.97074483e+01] [-5.75357305e-02 -9.67483373e-04 9.98342979e-01 -1.01493761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:-29.71, Z:-10.15 [[ 9.65192144e-01 2.55330732e-01 5.66598886e-02 1.54137622e+02] [-2.54938884e-01 9.66853461e-01 -1.41616012e-02 -2.97146443e+01] [-5.83977014e-02 -7.76142568e-04 9.98293096e-01 -1.01518134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:-29.72, Z:-10.15 [[ 9.65674838e-01 2.53499892e-01 5.66560854e-02 1.54164896e+02] [-2.53105172e-01 9.67335183e-01 -1.41567954e-02 -2.97215714e+01] [-5.83941708e-02 -6.69087073e-04 9.98293380e-01 -1.01534895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-29.73, Z:-10.16 [[ 9.66082449e-01 2.51938619e-01 5.66712728e-02 1.54192440e+02] [-2.51541267e-01 9.67743043e-01 -1.41560715e-02 -2.97284657e+01] [-5.84096911e-02 -5.79231579e-04 9.98292529e-01 -1.01556593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-29.73, Z:-10.16 [[ 9.66682153e-01 2.49697503e-01 5.63628628e-02 1.54219701e+02] [-2.49300820e-01 9.68323789e-01 -1.40762697e-02 -2.97346721e+01] [-5.80923103e-02 -4.44029169e-04 9.98311117e-01 -1.01571145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:-29.74, Z:-10.16 [[ 9.66723911e-01 2.49491865e-01 5.65569508e-02 1.54247232e+02] [-2.49092305e-01 9.68376796e-01 -1.41210923e-02 -2.97410554e+01] [-5.82915365e-02 -4.36703620e-04 9.98299507e-01 -1.01590620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.27, Y:-29.75, Z:-10.16 [[ 9.66682773e-01 2.49724273e-01 5.62334797e-02 1.54274939e+02] [-2.49329879e-01 9.68316882e-01 -1.40366796e-02 -2.97471252e+01] [-5.79571274e-02 -4.51670295e-04 9.98318971e-01 -1.01610026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:154.30, Y:-29.75, Z:-10.16 [[ 9.66307281e-01 2.51302428e-01 5.56536371e-02 1.54302145e+02] [-2.50918898e-01 9.67908464e-01 -1.38892839e-02 -2.97521592e+01] [-5.73580372e-02 -5.43233149e-04 9.98353525e-01 -1.01636647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.33, Y:-29.76, Z:-10.17 [[ 9.66043952e-01 2.52255782e-01 5.59115656e-02 1.54329271e+02] [-2.51870501e-01 9.67660401e-01 -1.39498337e-02 -2.97581015e+01] [-5.76223343e-02 -6.06321572e-04 9.98338269e-01 -1.01652803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:-29.76, Z:-10.17 [[ 9.65805965e-01 2.53157053e-01 5.59494914e-02 1.54356601e+02] [-2.52773003e-01 9.67424966e-01 -1.39550677e-02 -2.97639501e+01] [-5.76597586e-02 -6.64633295e-04 9.98336071e-01 -1.01665832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:-29.77, Z:-10.17 [[ 9.65396884e-01 2.54679175e-01 5.61014552e-02 1.54384632e+02] [-2.54295865e-01 9.67025303e-01 -1.39884335e-02 -2.97690849e+01] [-5.78140895e-02 -7.61977902e-04 9.98327076e-01 -1.01686334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:-29.78, Z:-10.17 [[ 9.65286585e-01 2.55154279e-01 5.58399701e-02 1.54411547e+02] [-2.54775490e-01 9.66900031e-01 -1.39204600e-02 -2.97754292e+01] [-5.75435338e-02 -7.89422388e-04 9.98342686e-01 -1.01705605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-29.78, Z:-10.17 [[ 9.65215631e-01 2.55413981e-01 5.58791986e-02 1.54438613e+02] [-2.55035295e-01 9.66831446e-01 -1.39267305e-02 -2.97815296e+01] [-5.75828480e-02 -8.08870002e-04 9.98340404e-01 -1.01717758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-29.79, Z:-10.17 [[ 9.65154596e-01 2.55528190e-01 5.64087727e-02 1.54466506e+02] [-2.55142740e-01 9.66801251e-01 -1.40543018e-02 -2.97871029e+01] [-5.81273423e-02 -8.27714842e-04 9.98308833e-01 -1.01731919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-29.79, Z:-10.18 [[ 9.65068085e-01 2.55746332e-01 5.68982064e-02 1.54494070e+02] [-2.55354808e-01 9.66743548e-01 -1.41716386e-02 -2.97924263e+01] [-5.86303185e-02 -8.52634424e-04 9.98279399e-01 -1.01752859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-29.80, Z:-10.18 [[ 9.64905414e-01 2.56327420e-01 5.70420540e-02 1.54520777e+02] [-2.55935131e-01 9.66589600e-01 -1.42039866e-02 -2.97976192e+01] [-5.87771274e-02 -8.93561960e-04 9.98270730e-01 -1.01768186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-29.80, Z:-10.18 [[ 9.64826465e-01 2.56586042e-01 5.72144623e-02 1.54548384e+02] [-2.56192140e-01 9.66520958e-01 -1.42416909e-02 -2.98042006e+01] [-5.89531960e-02 -9.17135237e-04 9.98260327e-01 -1.01789557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53264000000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:154.57, Y:-29.81, Z:-10.18 [[ 9.64700265e-01 2.57035281e-01 5.73259430e-02 1.54574551e+02] [-2.56640889e-01 9.66401552e-01 -1.42651262e-02 -2.98100827e+01] [-5.90665210e-02 -9.50609921e-04 9.98253596e-01 -1.01812129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-29.82, Z:-10.18 [[ 9.64653946e-01 2.57245338e-01 5.71629402e-02 1.54602231e+02] [-2.56853861e-01 9.66345644e-01 -1.42193618e-02 -2.98162887e+01] [-5.88970228e-02 -9.65758463e-04 9.98263596e-01 -1.01826255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59264000000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:154.63, Y:-29.82, Z:-10.18 [[ 9.64586275e-01 2.57542283e-01 5.69674592e-02 1.54629281e+02] [-2.57154251e-01 9.66266528e-01 -1.41664468e-02 -2.98212216e+01] [-5.86942081e-02 -9.84664169e-04 9.98275523e-01 -1.01849358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-29.82, Z:-10.19 [[ 9.64528982e-01 2.58007438e-01 5.58211864e-02 1.54656076e+02] [-2.57635884e-01 9.66142417e-01 -1.38773978e-02 -2.98248639e+01] [-5.75116878e-02 -9.96388365e-04 9.98344336e-01 -1.01865122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-29.83, Z:-10.19 [[ 9.64507584e-01 2.58199601e-01 5.52999654e-02 1.54683752e+02] [-2.57835555e-01 9.66091072e-01 -1.37428877e-02 -2.98310008e+01] [-5.69732110e-02 -1.00317786e-03 9.98375203e-01 -1.01885925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:154.71, Y:-29.84, Z:-10.19 [[ 9.64396945e-01 2.58619610e-01 5.52669006e-02 1.54711321e+02] [-2.58256922e-01 9.65978692e-01 -1.37305681e-02 -2.98372833e+01] [-5.69376425e-02 -1.03134178e-03 9.98377204e-01 -1.01910493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-29.84, Z:-10.19 [[ 9.64489375e-01 2.58481158e-01 5.42930689e-02 1.54739008e+02] [-2.58131149e-01 9.66015773e-01 -1.34846905e-02 -2.98427078e+01] [-5.59334994e-02 -1.00889153e-03 9.98433987e-01 -1.01930711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-29.85, Z:-10.19 [[ 9.64530268e-01 2.58345667e-01 5.42114330e-02 1.54766332e+02] [-2.57996719e-01 9.66052022e-01 -1.34604372e-02 -2.98482895e+01] [-5.58485102e-02 -1.00337271e-03 9.98438750e-01 -1.01948090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-29.85, Z:-10.20 [[ 9.64557974e-01 2.58145063e-01 5.46721265e-02 1.54792249e+02] [-2.57790067e-01 9.66105645e-01 -1.35706684e-02 -2.98536174e+01] [-5.63222511e-02 -1.00423479e-03 9.98412137e-01 -1.01967145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:-29.86, Z:-10.20 [[ 9.64948663e-01 2.56680090e-01 5.46754868e-02 1.54818841e+02] [-2.56322981e-01 9.66495980e-01 -1.35665347e-02 -2.98589916e+01] [-5.63258975e-02 -9.23574204e-04 9.98412009e-01 -1.01983784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:-29.86, Z:-10.20 [[ 9.65274771e-01 2.55545341e-01 5.42327942e-02 1.54846103e+02] [-2.55192470e-01 9.66796694e-01 -1.34519684e-02 -2.98649233e+01] [-5.58696740e-02 -8.54955037e-04 9.98437704e-01 -1.02005045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-29.87, Z:-10.20 [[ 9.65936020e-01 2.53067122e-01 5.40799230e-02 1.54871893e+02] [-2.52712581e-01 9.67448460e-01 -1.34100156e-02 -2.98708156e+01] [-5.57131723e-02 -7.13459853e-04 9.98446560e-01 -1.02032809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-29.88, Z:-10.20 [[ 9.66199735e-01 2.51966317e-01 5.45073113e-02 1.54898896e+02] [-2.51604683e-01 9.67735780e-01 -1.35108831e-02 -2.98787220e+01] [-5.61529629e-02 -6.60083151e-04 9.98421959e-01 -1.02049415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:-29.89, Z:-10.21 [[ 9.66427702e-01 2.51027047e-01 5.47988906e-02 1.54924949e+02] [-2.50660257e-01 9.67979879e-01 -1.35790130e-02 -2.98866918e+01] [-5.64529230e-02 -6.12769712e-04 9.98405074e-01 -1.02066182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:-29.89, Z:-10.21 [[ 9.66442391e-01 2.50970222e-01 5.48001228e-02 1.54952574e+02] [-2.50603622e-01 9.67994613e-01 -1.35740384e-02 -2.98934021e+01] [-5.64529031e-02 -6.14583181e-04 9.98405074e-01 -1.02085610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:-29.90, Z:-10.21 [[ 9.66587674e-01 2.50345339e-01 5.50951943e-02 1.54979986e+02] [-2.49973951e-01 9.68156428e-01 -1.36438313e-02 -2.99010211e+01] [-5.67564362e-02 -5.84404234e-04 9.98387883e-01 -1.02103002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:-29.91, Z:-10.21 [[ 9.66559212e-01 2.50288539e-01 5.58474375e-02 1.55006601e+02] [-2.49907079e-01 9.68171108e-01 -1.38259422e-02 -2.99070601e+01] [-5.75303504e-02 -5.93078143e-04 9.98343582e-01 -1.02114786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:-29.91, Z:-10.21 [[ 9.66498611e-01 2.50558668e-01 5.56847292e-02 1.55033297e+02] [-2.50180162e-01 9.68101224e-01 -1.37806815e-02 -2.99137961e+01] [-5.73613237e-02 -6.12205056e-04 9.98353296e-01 -1.02136019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:-29.92, Z:-10.22 [[ 9.66151279e-01 2.52114199e-01 5.46821396e-02 1.55059708e+02] [-2.51751946e-01 9.67697239e-01 -1.35281795e-02 -2.99218847e+01] [-5.63264016e-02 -6.96067119e-04 9.98412165e-01 -1.02151947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:-29.93, Z:-10.22 [[ 9.65909248e-01 2.53043575e-01 5.46651123e-02 1.55087011e+02] [-2.52683227e-01 9.67454589e-01 -1.35205379e-02 -2.99285446e+01] [-5.63072990e-02 -7.53344447e-04 9.98413201e-01 -1.02171317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:-29.93, Z:-10.22 [[ 9.65655817e-01 2.54004043e-01 5.46881028e-02 1.55114469e+02] [-2.53645173e-01 9.67202814e-01 -1.35219251e-02 -2.99344118e+01] [-5.63291106e-02 -8.13847651e-04 9.98411923e-01 -1.02185392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-29.94, Z:-10.22 [[ 9.65028796e-01 2.56197148e-01 5.55197657e-02 1.55140418e+02] [-2.55831142e-01 9.66624073e-01 -1.37232574e-02 -2.99398782e+01] [-5.71826015e-02 -9.60346431e-04 9.98363274e-01 -1.02200463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-29.95, Z:-10.22 [[ 9.64799320e-01 2.57040985e-01 5.56075925e-02 1.55167979e+02] [-2.56675520e-01 9.66399968e-01 -1.37397228e-02 -2.99468384e+01] [-5.72708475e-02 -1.01703247e-03 9.98358160e-01 -1.02217181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:-29.95, Z:-10.22 [[ 9.64582854e-01 2.57872843e-01 5.55113848e-02 1.55195163e+02] [-2.57510255e-01 9.66178273e-01 -1.37118022e-02 -2.99541795e+01] [-5.71697953e-02 -1.06858155e-03 9.98363898e-01 -1.02239779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:-29.96, Z:-10.23 [[ 9.64143341e-01 2.59518535e-01 5.54774581e-02 1.55223132e+02] [-2.59159357e-01 9.65737419e-01 -1.36991123e-02 -2.99594686e+01] [-5.71318307e-02 -1.16959444e-03 9.98365958e-01 -1.02255042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-29.97, Z:-10.23 [[ 9.63918795e-01 2.60405712e-01 5.52215766e-02 1.55250953e+02] [-2.60051538e-01 9.65498511e-01 -1.36316791e-02 -2.99651513e+01] [-5.68661171e-02 -1.22062424e-03 9.98381067e-01 -1.02275631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.28, Y:-29.97, Z:-10.23 [[ 9.63623707e-01 2.61578919e-01 5.48253730e-02 1.55278046e+02] [-2.61231946e-01 9.65181236e-01 -1.35296408e-02 -2.99703532e+01] [-5.64554901e-02 -1.28465633e-03 9.98404291e-01 -1.02304122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:-29.98, Z:-10.23 [[ 9.63657363e-01 2.61483958e-01 5.46866178e-02 1.55305076e+02] [-2.61138825e-01 9.65206973e-01 -1.34912111e-02 -2.99768958e+01] [-5.63116401e-02 -1.27989418e-03 9.98412420e-01 -1.02322593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-29.98, Z:-10.23 [[ 9.63750398e-01 2.61192585e-01 5.44390011e-02 1.55331064e+02] [-2.60850312e-01 9.65285887e-01 -1.34264728e-02 -2.99833099e+01] [-5.60560946e-02 -1.26066194e-03 9.98426825e-01 -1.02344970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.36, Y:-29.99, Z:-10.24 [[ 9.64158155e-01 2.59758266e-01 5.40804522e-02 1.55358288e+02] [-2.59418637e-01 9.65672957e-01 -1.33308373e-02 -2.99900516e+01] [-5.56868253e-02 -1.17644168e-03 9.98447592e-01 -1.02363812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:-30.00, Z:-10.24 [[ 9.64449919e-01 2.58568724e-01 5.45762568e-02 1.55384008e+02] [-2.58221168e-01 9.65992213e-01 -1.34488839e-02 -2.99966305e+01] [-5.61976998e-02 -1.12196977e-03 9.98419030e-01 -1.02382941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:-30.00, Z:-10.24 [[ 9.64742278e-01 2.57433166e-01 5.47768431e-02 1.55410348e+02] [-2.57081483e-01 9.66295520e-01 -1.34936534e-02 -3.00033354e+01] [-5.64043320e-02 -1.06421408e-03 9.98407441e-01 -1.02401744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:-30.01, Z:-10.24 [[ 9.65369474e-01 2.55029067e-01 5.49723025e-02 1.55437337e+02] [-2.54671387e-01 9.66932936e-01 -1.35344900e-02 -3.00108189e+01] [-5.66062182e-02 -9.34089060e-04 9.98396146e-01 -1.02415138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-30.02, Z:-10.24 [[ 9.65721637e-01 2.53541879e-01 5.56617976e-02 1.55463878e+02] [-2.53172940e-01 9.67324027e-01 -1.36999670e-02 -3.00174908e+01] [-5.73165096e-02 -8.61706361e-04 9.98355686e-01 -1.02433385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:-30.03, Z:-10.25 [[ 9.66313769e-01 2.51150040e-01 5.62259550e-02 1.55490653e+02] [-2.50769839e-01 9.67947892e-01 -1.38335380e-02 -3.00254187e+01] [-5.78980882e-02 -7.32235477e-04 9.98322230e-01 -1.02451540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:-30.03, Z:-10.25 [[ 9.66626187e-01 2.50135672e-01 5.53711056e-02 1.55517691e+02] [-2.49765525e-01 9.68210567e-01 -1.36190891e-02 -3.00331360e+01] [-5.70175095e-02 -6.65225120e-04 9.98372957e-01 -1.02472712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-30.04, Z:-10.25 [[ 9.66912282e-01 2.49213562e-01 5.45274158e-02 1.55544759e+02] [-2.48853395e-01 9.68448364e-01 -1.34072334e-02 -3.00408009e+01] [-5.61482510e-02 -6.05713876e-04 9.98422259e-01 -1.02493367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-30.05, Z:-10.25 [[ 9.67334945e-01 2.47636306e-01 5.42159047e-02 1.55571380e+02] [-2.47277957e-01 9.68852928e-01 -1.33272901e-02 -3.00490104e+01] [-5.58275588e-02 -5.14444738e-04 9.98440293e-01 -1.02515082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:-30.06, Z:-10.25 [[ 9.67543227e-01 2.46723029e-01 5.46612338e-02 1.55598215e+02] [-2.46357547e-01 9.69085923e-01 -1.34325314e-02 -3.00557255e+01] [-5.62855471e-02 -4.69652709e-04 9.98414602e-01 -1.02536062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264000000003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:155.63, Y:-30.06, Z:-10.26 [[ 9.67689339e-01 2.46165117e-01 5.45901035e-02 1.55626272e+02] [-2.45799954e-01 9.69227807e-01 -1.34105032e-02 -3.00625168e+01] [-5.62114444e-02 -4.41043962e-04 9.98418789e-01 -1.02550565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:-30.07, Z:-10.26 [[ 9.67798285e-01 2.45684112e-01 5.48251561e-02 1.55653323e+02] [-2.45315186e-01 9.69349856e-01 -1.34653834e-02 -3.00714904e+01] [-5.64529879e-02 -4.17668408e-04 9.98405171e-01 -1.02576642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:-30.08, Z:-10.26 [[ 9.67650751e-01 2.46305925e-01 5.46389506e-02 1.55680266e+02] [-2.45940643e-01 9.69192027e-01 -1.34169842e-02 -3.00791776e+01] [-5.62603180e-02 -4.54983814e-04 9.98416030e-01 -1.02592525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:-30.09, Z:-10.26 [[ 9.67185866e-01 2.48221137e-01 5.42011743e-02 1.55707779e+02] [-2.47864878e-01 9.68703230e-01 -1.33061739e-02 -3.00850203e+01] [-5.58077262e-02 -5.65024165e-04 9.98441375e-01 -1.02612485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-30.09, Z:-10.26 [[ 9.66778976e-01 2.49759903e-01 5.43911917e-02 1.55734708e+02] [-2.49403808e-01 9.68307572e-01 -1.33486286e-02 -3.00904801e+01] [-5.60013550e-02 -6.60196858e-04 9.98430474e-01 -1.02630653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:-30.10, Z:-10.26 [[ 9.66372719e-01 2.51201789e-01 5.49675277e-02 1.55761575e+02] [-2.50840654e-01 9.67934445e-01 -1.34861352e-02 -3.00960485e+01] [-5.65927048e-02 -7.55457473e-04 9.98397063e-01 -1.02649353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:-30.10, Z:-10.27 [[ 9.66022509e-01 2.52472963e-01 5.52984239e-02 1.55789616e+02] [-2.52109933e-01 9.67603584e-01 -1.35604903e-02 -3.01022862e+01] [-5.69306103e-02 -8.41543039e-04 9.98377783e-01 -1.02667062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-30.11, Z:-10.27 [[ 9.65597685e-01 2.54048971e-01 5.54998326e-02 1.55816759e+02] [-2.53686051e-01 9.67190899e-01 -1.36070487e-02 -3.01089932e+01] [-5.71357897e-02 -9.40598650e-04 9.98365973e-01 -1.02686497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-30.12, Z:-10.27 [[ 9.65493932e-01 2.53951714e-01 5.77061046e-02 1.55842311e+02] [-2.53824804e-01 9.67202162e-01 -9.64089576e-03 -3.01181608e+01] [-5.82617912e-02 -5.33901434e-03 9.98287062e-01 -1.02707271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:-30.12, Z:-10.27 [[ 9.65901298e-01 2.53151483e-01 5.43047834e-02 1.55871259e+02] [-2.52542446e-01 9.67420001e-01 -1.79124469e-02 -3.01194158e+01] [-5.70700961e-02 3.58739289e-03 9.98363729e-01 -1.02723686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.90, Y:-30.13, Z:-10.27 [[ 9.66293678e-01 2.51402113e-01 5.54392011e-02 1.55898263e+02] [-2.51036449e-01 9.67882401e-01 -1.35778946e-02 -3.01268389e+01] [-5.70721384e-02 -7.97026490e-04 9.98369739e-01 -1.02746049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:-30.13, Z:-10.28 [[ 9.67272980e-01 2.47551829e-01 5.56872820e-02 1.55925493e+02] [-2.47176750e-01 9.68874481e-01 -1.36343165e-02 -3.01334131e+01] [-5.73291864e-02 -5.76495440e-04 9.98355163e-01 -1.02769860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:-30.14, Z:-10.28 [[ 9.67838470e-01 2.45381870e-01 5.54656075e-02 1.55952268e+02] [-2.45006408e-01 9.69426395e-01 -1.35765948e-02 -3.01403907e+01] [-5.71012742e-02 -4.49478501e-04 9.98368290e-01 -1.02786788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-30.15, Z:-10.28 [[ 9.68328558e-01 2.43236448e-01 5.63545421e-02 1.55979202e+02] [-2.42946295e-01 9.69964913e-01 -1.20484363e-02 -3.01485500e+01] [-5.75925474e-02 -2.02428228e-03 9.98338119e-01 -1.02812272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:-30.15, Z:-10.28 [[ 9.68854193e-01 2.41444423e-01 5.50103969e-02 1.56007574e+02] [-2.40974879e-01 9.70413657e-01 -1.51142970e-02 -3.01542406e+01] [-5.70321032e-02 1.38742625e-03 9.98371381e-01 -1.02828512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-30.16, Z:-10.28 [[ 9.69879924e-01 2.37397841e-01 5.45453735e-02 1.56033896e+02] [-2.37022216e-01 9.71412510e-01 -1.33493194e-02 -3.01637611e+01] [-5.61551578e-02 1.87716190e-05 9.98422054e-01 -1.02848137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-30.17, Z:-10.29 [[ 9.70292078e-01 2.35775579e-01 5.42508910e-02 1.56061793e+02] [-2.35401679e-01 9.71807525e-01 -1.32734564e-02 -3.01712113e+01] [-5.58509809e-02 1.08378735e-04 9.98439110e-01 -1.02866018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:-30.18, Z:-10.29 [[ 9.70776294e-01 2.33674469e-01 5.46775129e-02 1.56088961e+02] [-2.33291484e-01 9.72314862e-01 -1.33750922e-02 -3.01784015e+01] [-5.62891759e-02 2.28424333e-04 9.98414481e-01 -1.02881237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:-30.19, Z:-10.29 [[ 9.70960730e-01 2.32853666e-01 5.49038277e-02 1.56115891e+02] [-2.32466394e-01 9.72511746e-01 -1.34268641e-02 -3.01854004e+01] [-5.65211119e-02 2.73662959e-04 9.98401367e-01 -1.02899432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:-30.19, Z:-10.29 [[ 9.71160738e-01 2.32016658e-01 5.49098568e-02 1.56143886e+02] [-2.31628197e-01 9.72711761e-01 -1.34242045e-02 -3.01935522e+01] [-5.65261025e-02 3.18389260e-04 9.98401071e-01 -1.02918598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:-30.20, Z:-10.29 [[ 9.71480031e-01 2.30784885e-01 5.44507722e-02 1.56170762e+02] [-2.30401035e-01 9.73004721e-01 -1.33107187e-02 -3.02048363e+01] [-5.60527712e-02 3.85583139e-04 9.98427733e-01 -1.02939311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.20, Y:-30.21, Z:-10.30 [[ 9.71567780e-01 2.30462976e-01 5.42481928e-02 1.56198949e+02] [-2.30081603e-01 9.73081012e-01 -1.32589404e-02 -3.02125320e+01] [-5.58435812e-02 4.00448096e-04 9.98439449e-01 -1.02959162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-30.22, Z:-10.30 [[ 9.71601463e-01 2.30342019e-01 5.41585818e-02 1.56227343e+02] [-2.29961796e-01 9.73109650e-01 -1.32356458e-02 -3.02203619e+01] [-5.57509640e-02 4.05368084e-04 9.98444623e-01 -1.02979544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-30.23, Z:-10.30 [[ 9.71480196e-01 2.30724103e-01 5.47048110e-02 1.56254691e+02] [-2.30336843e-01 9.73019136e-01 -1.33678470e-02 -3.02287621e+01] [-5.63131124e-02 3.86065140e-04 9.98413083e-01 -1.02992498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.28, Y:-30.24, Z:-10.30 [[ 9.71469037e-01 2.30672567e-01 5.51187576e-02 1.56283257e+02] [-2.30279467e-01 9.73031353e-01 -1.34667147e-02 -3.02374860e+01] [-5.67386810e-02 3.89778255e-04 9.98388987e-01 -1.03012265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-30.25, Z:-10.30 [[ 9.71477779e-01 2.30518654e-01 5.56064317e-02 1.56311653e+02] [-2.30118400e-01 9.73067824e-01 -1.35842776e-02 -3.02470893e+01] [-5.72402589e-02 4.00760741e-04 9.98360352e-01 -1.03030848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-30.26, Z:-10.30 [[ 9.71489704e-01 2.30489805e-01 5.55176045e-02 1.56341184e+02] [-2.30090846e-01 9.73074658e-01 -1.35614549e-02 -3.02591521e+01] [-5.71485510e-02 4.00721249e-04 9.98365606e-01 -1.03041419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:-30.27, Z:-10.31 [[ 9.71411024e-01 2.30985182e-01 5.48312609e-02 1.56370927e+02] [-2.30596745e-01 9.72957198e-01 -1.33951990e-02 -3.02686583e+01] [-5.64425625e-02 3.68333710e-04 9.98405780e-01 -1.03060868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:-30.28, Z:-10.31 [[ 9.71256131e-01 2.31671117e-01 5.46810922e-02 1.56400435e+02] [-2.31285804e-01 9.72794113e-01 -1.33600736e-02 -3.02774528e+01] [-5.62885877e-02 3.29093027e-04 9.98414486e-01 -1.03080258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-30.29, Z:-10.31 [[ 9.70576113e-01 2.34534602e-01 5.45484180e-02 1.56429817e+02] [-2.34155643e-01 9.72107758e-01 -1.33282070e-02 -3.02874000e+01] [-5.61528661e-02 1.63219435e-04 9.98422170e-01 -1.03093591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.46, Y:-30.30, Z:-10.31 [[ 9.70124749e-01 2.36381227e-01 5.46066606e-02 1.56458343e+02] [-2.36004274e-01 9.71660389e-01 -1.33443005e-02 -3.02955204e+01] [-5.62134713e-02 5.82309091e-05 9.98418771e-01 -1.03112207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-30.30, Z:-10.31 [[ 9.68953644e-01 2.41016904e-01 5.51333722e-02 1.56485930e+02] [-2.40640146e-01 9.70520895e-01 -1.34726964e-02 -3.03043296e+01] [-5.67552373e-02 -2.12884413e-04 9.98388100e-01 -1.03118803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.51, Y:-30.31, Z:-10.31 [[ 9.68410608e-01 2.43134714e-01 5.53751360e-02 1.56512852e+02] [-2.42758244e-01 9.69992471e-01 -1.35292378e-02 -3.03111646e+01] [-5.70028924e-02 -3.40913413e-04 9.98373955e-01 -1.03141196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.54, Y:-30.32, Z:-10.32 [[ 9.67900188e-01 2.45221073e-01 5.50985667e-02 1.56541430e+02] [-2.44851979e-01 9.69467075e-01 -1.34573236e-02 -3.03190668e+01] [-5.67162656e-02 -4.65647095e-04 9.98390229e-01 -1.03155529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-30.33, Z:-10.32 [[ 9.67036822e-01 2.48615666e-01 5.50457636e-02 1.56568725e+02] [-2.48252842e-01 9.68601986e-01 -1.34431526e-02 -3.03271369e+01] [-5.66596143e-02 -6.65243729e-04 9.98393332e-01 -1.03174536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-30.33, Z:-10.32 [[ 9.66692749e-01 2.49971062e-01 5.49508712e-02 1.56597654e+02] [-2.49611802e-01 9.68253021e-01 -1.34177433e-02 -3.03342379e+01] [-5.65603945e-02 -7.45550852e-04 9.98398901e-01 -1.03193889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:-30.34, Z:-10.32 [[ 9.66120333e-01 2.52276560e-01 5.44797222e-02 1.56624971e+02] [-2.51927170e-01 9.67654780e-01 -1.33014155e-02 -3.03411687e+01] [-5.60731989e-02 -8.74154243e-04 9.98426278e-01 -1.03218188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:-30.35, Z:-10.32 [[ 9.65825021e-01 2.53463295e-01 5.42068923e-02 1.56653937e+02] [-2.53119393e-01 9.67344548e-01 -1.32325024e-02 -3.03481201e+01] [-5.57906954e-02 -9.40533746e-04 9.98442043e-01 -1.03243480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:-30.35, Z:-10.33 [[ 9.65562520e-01 2.54572527e-01 5.36828482e-02 1.56681035e+02] [-2.54237009e-01 9.67053172e-01 -1.31036752e-02 -3.03541781e+01] [-5.52500043e-02 -9.95749081e-04 9.98472055e-01 -1.03262251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:-30.36, Z:-10.33 [[ 9.65571725e-01 2.54537426e-01 5.36837239e-02 1.56709484e+02] [-2.54202054e-01 9.67062409e-01 -1.31000863e-02 -3.03610360e+01] [-5.52499737e-02 -9.97439901e-04 9.98472055e-01 -1.03282219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:-30.37, Z:-10.33 [[ 9.65427610e-01 2.55121291e-01 5.35037977e-02 1.56737598e+02] [-2.54789163e-01 9.66908511e-01 -1.30543036e-02 -3.03667700e+01] [-5.50637082e-02 -1.02920269e-03 9.98482313e-01 -1.03305565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-30.37, Z:-10.33 [[ 9.65301026e-01 2.55725589e-01 5.28994489e-02 1.56765157e+02] [-2.55401968e-01 9.66748836e-01 -1.29043609e-02 -3.03711336e+01] [-5.44404559e-02 -1.05403052e-03 9.98516462e-01 -1.03327853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.79, Y:-30.38, Z:-10.33 [[ 9.65377896e-01 2.55580946e-01 5.21909844e-02 1.56793565e+02] [-2.55265924e-01 9.66787106e-01 -1.27279158e-02 -3.03770809e+01] [-5.37105835e-02 -1.03533131e-03 9.98556008e-01 -1.03348728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-30.38, Z:-10.34 [[ 9.65677677e-01 2.54421664e-01 5.23090845e-02 1.56821850e+02] [-2.54103656e-01 9.67092894e-01 -1.27540813e-02 -3.03834154e+01] [-5.38326585e-02 -9.75598035e-04 9.98549495e-01 -1.03358496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:-30.39, Z:-10.34 [[ 9.65960261e-01 2.53322717e-01 5.24249415e-02 1.56850213e+02] [-2.53001827e-01 9.67381391e-01 -1.27796460e-02 -3.03894020e+01] [-5.39522875e-02 -9.18975742e-04 9.98543092e-01 -1.03377167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-30.40, Z:-10.34 [[ 9.66328843e-01 2.51996994e-01 5.20200171e-02 1.56878353e+02] [-2.51679267e-01 9.67727652e-01 -1.26782717e-02 -3.03957785e+01] [-5.35360954e-02 -8.40980120e-04 9.98565561e-01 -1.03394596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:156.91, Y:-30.40, Z:-10.34 [[ 9.67110563e-01 2.48907747e-01 5.23649974e-02 1.56906650e+02] [-2.48581410e-01 9.68526961e-01 -1.27596093e-02 -3.04019788e+01] [-5.38928775e-02 -6.77011929e-04 9.98546493e-01 -1.03414929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.93, Y:-30.41, Z:-10.34 [[ 9.67506985e-01 2.47236401e-01 5.29565539e-02 1.56934091e+02] [-2.46900286e-01 9.68955009e-01 -1.29011088e-02 -3.04084863e+01] [-5.45021419e-02 -5.93075448e-04 9.98513478e-01 -1.03430897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:-30.42, Z:-10.34 [[ 9.67961640e-01 2.45317533e-01 5.35683844e-02 1.56962373e+02] [-2.44970871e-01 9.69442656e-01 -1.30464212e-02 -3.04155854e+01] [-5.51319927e-02 -4.94258522e-04 9.98478953e-01 -1.03447242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:-30.42, Z:-10.35 [[ 9.68838764e-01 2.41943231e-01 5.30558494e-02 1.56989917e+02] [-2.41598257e-01 9.70290360e-01 -1.29189846e-02 -3.04228644e+01] [-5.46052400e-02 -3.01787716e-04 9.98507975e-01 -1.03464549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-30.43, Z:-10.35 [[ 9.69249218e-01 2.40285947e-01 5.30906589e-02 1.57017879e+02] [-2.39938179e-01 9.70702127e-01 -1.29248265e-02 -3.04299326e+01] [-5.46408697e-02 -2.11098060e-04 9.98506049e-01 -1.03484576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-30.44, Z:-10.35 [[ 9.69886602e-01 2.37790758e-01 5.26833366e-02 1.57046884e+02] [-2.37444787e-01 9.71316401e-01 -1.28227511e-02 -3.04376967e+01] [-5.42213206e-02 -7.27691282e-05 9.98528940e-01 -1.03504303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.07, Y:-30.44, Z:-10.35 [[ 9.70125711e-01 2.36901022e-01 5.22877644e-02 1.57074947e+02] [-2.36559001e-01 9.71533790e-01 -1.27253226e-02 -3.04442044e+01] [-5.38139719e-02 -2.39786791e-05 9.98550978e-01 -1.03528089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-30.45, Z:-10.35 [[ 9.70264417e-01 2.36332130e-01 5.22884772e-02 1.57103295e+02] [-2.35989373e-01 9.71672334e-01 -1.27236653e-02 -3.04512730e+01] [-5.38142776e-02 5.79474750e-06 9.98550962e-01 -1.03548769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-30.46, Z:-10.36 [[ 9.70203836e-01 2.36784371e-01 5.13583220e-02 1.57132328e+02] [-2.36454492e-01 9.71562227e-01 -1.24944898e-02 -3.04582497e+01] [-5.28563056e-02 -2.17040355e-05 9.98602128e-01 -1.03564765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-30.46, Z:-10.36 [[ 9.69996455e-01 2.37603104e-01 5.14941075e-02 1.57159778e+02] [-2.37272690e-01 9.71362322e-01 -1.25263722e-02 -3.04648925e+01] [-5.29957407e-02 -6.76088264e-05 9.98594736e-01 -1.03582867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-30.47, Z:-10.36 [[ 9.69700799e-01 2.38858081e-01 5.12559907e-02 1.57188252e+02] [-2.38532585e-01 9.71054477e-01 -1.24662719e-02 -3.04718699e+01] [-5.27500291e-02 -1.37670118e-04 9.98607739e-01 -1.03601180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-30.48, Z:-10.36 [[ 9.69460407e-01 2.39868637e-01 5.10838178e-02 1.57216861e+02] [-2.39546796e-01 9.70805336e-01 -1.24230791e-02 -3.04787010e+01] [-5.25723500e-02 -1.93281520e-04 9.98617099e-01 -1.03622869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.24, Y:-30.49, Z:-10.36 [[ 9.69086209e-01 2.41424981e-01 5.08517282e-02 1.57244849e+02] [-2.41108266e-01 9.70419446e-01 -1.23653796e-02 -3.04851489e+01] [-5.23328175e-02 -2.77653116e-04 9.98629661e-01 -1.03639798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-30.49, Z:-10.37 [[ 9.69000949e-01 2.41782877e-01 5.07759946e-02 1.57271804e+02] [-2.41467648e-01 9.70330331e-01 -1.23459843e-02 -3.04913077e+01] [-5.22545353e-02 -2.97489480e-04 9.98633754e-01 -1.03656862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-30.50, Z:-10.37 [[ 9.68914242e-01 2.42075176e-01 5.10372546e-02 1.57299248e+02] [-2.41757271e-01 9.70257444e-01 -1.24062069e-02 -3.04965654e+01] [-5.25225109e-02 -3.18076825e-04 9.98619690e-01 -1.03674570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-30.50, Z:-10.37 [[ 9.68918652e-01 2.42030986e-01 5.11629583e-02 1.57326346e+02] [-2.41711623e-01 9.70268468e-01 -1.24334841e-02 -3.05029046e+01] [-5.26510935e-02 -3.19647062e-04 9.98612918e-01 -1.03689628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:-30.51, Z:-10.37 [[ 9.68883832e-01 2.42126336e-01 5.13707797e-02 1.57354706e+02] [-2.41804688e-01 9.70244675e-01 -1.24805455e-02 -3.05094076e+01] [-5.28640941e-02 -3.29496604e-04 9.98601662e-01 -1.03707147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:-30.52, Z:-10.37 [[ 9.68683454e-01 2.42872505e-01 5.16266670e-02 1.57382454e+02] [-2.42548843e-01 9.70058146e-01 -1.25400499e-02 -3.05155582e+01] [-5.31265022e-02 -3.74649431e-04 9.98587720e-01 -1.03719783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-30.52, Z:-10.37 [[ 9.68521616e-01 2.43438077e-01 5.19979000e-02 1.57409517e+02] [-2.43110692e-01 9.69916354e-01 -1.26276594e-02 -3.05218311e+01] [-5.35076667e-02 -4.11084328e-04 9.98567354e-01 -1.03741826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-30.53, Z:-10.38 [[ 9.68412107e-01 2.43802807e-01 5.23276531e-02 1.57437145e+02] [-2.43471981e-01 9.69824726e-01 -1.27041217e-02 -3.05278212e+01] [-5.38459523e-02 -4.37492110e-04 9.98549159e-01 -1.03762551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:-30.53, Z:-10.38 [[ 9.68316650e-01 2.44173882e-01 5.23639199e-02 1.57464962e+02] [-2.43843284e-01 9.69731356e-01 -1.27102375e-02 -3.05335292e+01] [-5.38824430e-02 -4.61055585e-04 9.98547180e-01 -1.03787423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-30.54, Z:-10.38 [[ 9.68303458e-01 2.44232202e-01 5.23358860e-02 1.57493137e+02] [-2.43902189e-01 9.69716667e-01 -1.27007387e-02 -3.05391910e+01] [-5.38529103e-02 -4.66667991e-04 9.98548770e-01 -1.03808469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-30.55, Z:-10.38 [[ 9.68417534e-01 2.43733031e-01 5.25517723e-02 1.57520813e+02] [-2.43399702e-01 9.69842262e-01 -1.27503832e-02 -3.05458055e+01] [-5.40746193e-02 -4.43391068e-04 9.98536799e-01 -1.03827527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-30.55, Z:-10.38 [[ 9.68542650e-01 2.43450003e-01 5.15483353e-02 1.57547704e+02] [-2.43129018e-01 9.69913356e-01 -1.25045004e-02 -3.05511914e+01] [-5.30416396e-02 -4.21754148e-04 9.98592212e-01 -1.03849903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-30.56, Z:-10.39 [[ 9.68529270e-01 2.43689405e-01 5.06609026e-02 1.57575761e+02] [-2.43379888e-01 9.69853230e-01 -1.22858492e-02 -3.05571848e+01] [-5.21275714e-02 -4.30640213e-04 9.98640341e-01 -1.03871493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-30.56, Z:-10.39 [[ 9.68326914e-01 2.44789052e-01 4.92067771e-02 1.57604044e+02] [-2.44498601e-01 9.69576243e-01 -1.19307464e-02 -3.05616067e+01] [-5.06302382e-02 -4.78125343e-04 9.98717353e-01 -1.03897073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-30.57, Z:-10.39 [[ 9.68049750e-01 2.45986609e-01 4.86854207e-02 1.57631630e+02] [-2.45703912e-01 9.69273078e-01 -1.18020385e-02 -3.05666278e+01] [-5.00926110e-02 -5.37237877e-04 9.98744433e-01 -1.03916363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:-30.57, Z:-10.39 [[ 9.67754673e-01 2.47060244e-01 4.91134306e-02 1.57660186e+02] [-2.46774107e-01 9.68999935e-01 -1.19023393e-02 -3.05720770e+01] [-5.05315059e-02 -6.01378535e-04 9.98722286e-01 -1.03940583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-30.58, Z:-10.40 [[ 9.67533098e-01 2.47807068e-01 4.97127966e-02 1.57687967e+02] [-2.47515021e-01 9.68809183e-01 -1.20449447e-02 -3.05780538e+01] [-5.11470363e-02 -6.50781264e-04 9.98690922e-01 -1.03956062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95264000000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:157.72, Y:-30.58, Z:-10.40 [[ 9.67392439e-01 2.48120462e-01 5.08734230e-02 1.57715703e+02] [-2.47815182e-01 9.68728944e-01 -1.23235159e-02 -3.05827391e+01] [-5.23402738e-02 -6.85530515e-04 9.98629073e-01 -1.03969642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-30.59, Z:-10.40 [[ 9.67498589e-01 2.47629064e-01 5.12476947e-02 1.57743239e+02] [-2.47318764e-01 9.68854685e-01 -1.24107775e-02 -3.05877257e+01] [-5.27248384e-02 -6.67106750e-04 9.98608856e-01 -1.03990808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-30.59, Z:-10.40 [[ 9.67685249e-01 2.46853038e-01 5.14668448e-02 1.57770327e+02] [-2.46539184e-01 9.69052723e-01 -1.24599977e-02 -3.05924945e+01] [-5.29498744e-02 -6.31237925e-04 9.98596972e-01 -1.04011837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:-30.60, Z:-10.40 [[ 9.68344773e-01 2.44110497e-01 5.21389039e-02 1.57798977e+02] [-2.43784644e-01 9.69747299e-01 -1.26184040e-02 -3.05966999e+01] [-5.36418461e-02 -4.91698538e-04 9.98560119e-01 -1.04030800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.83, Y:-30.60, Z:-10.41 [[ 9.68738202e-01 2.42533007e-01 5.21922953e-02 1.57826294e+02] [-2.42204334e-01 9.70143069e-01 -1.26287654e-02 -3.06015273e+01] [-5.36968860e-02 -4.07232621e-04 9.98557198e-01 -1.04051740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.85, Y:-30.61, Z:-10.41 [[ 9.69590772e-01 2.39124215e-01 5.20897735e-02 1.57854376e+02] [-2.38792105e-01 9.70988960e-01 -1.26003858e-02 -3.06071107e+01] [-5.35916524e-02 -2.21408910e-04 9.98562910e-01 -1.04073197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-30.61, Z:-10.41 [[ 9.70043592e-01 2.37203777e-01 5.24385145e-02 1.57881295e+02] [-2.36864538e-01 9.71459909e-01 -1.26821357e-02 -3.06134757e+01] [-5.39501650e-02 -1.18600032e-04 9.98543622e-01 -1.04094393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:157.91, Y:-30.62, Z:-10.41 [[ 9.70874509e-01 2.33794005e-01 5.23741373e-02 1.57908954e+02] [-2.33450831e-01 9.72286151e-01 -1.26629743e-02 -3.06193565e+01] [-5.38831758e-02 6.73730655e-05 9.98547244e-01 -1.04115156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.94, Y:-30.63, Z:-10.41 [[ 9.71218426e-01 2.32453020e-01 5.19650098e-02 1.57936038e+02] [-2.32113405e-01 9.72607616e-01 -1.25615591e-02 -3.06254172e+01] [-5.34615366e-02 1.38242318e-04 9.98569900e-01 -1.04129624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.96, Y:-30.63, Z:-10.42 [[ 9.71557957e-01 2.31089782e-01 5.16976607e-02 1.57963387e+02] [-2.30751902e-01 9.72932407e-01 -1.24936253e-02 -3.06303034e+01] [-5.31854786e-02 2.08947500e-04 9.98584629e-01 -1.04156374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:157.99, Y:-30.64, Z:-10.42 [[ 9.71905351e-01 2.29752430e-01 5.11254294e-02 1.57991248e+02] [-2.29420323e-01 9.73249066e-01 -1.23519379e-02 -3.06359764e+01] [-5.25956642e-02 2.75702031e-04 9.98615852e-01 -1.04175846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:-30.64, Z:-10.42 [[ 9.72690941e-01 2.26313994e-01 5.15199978e-02 1.58017878e+02] [-2.25972045e-01 9.74054291e-01 -1.24448065e-02 -3.06430424e+01] [-5.29997088e-02 4.62871291e-04 9.98594420e-01 -1.04200701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-30.65, Z:-10.42 [[ 9.73392834e-01 2.23034325e-01 5.25555016e-02 1.58044305e+02] [-2.22673884e-01 9.74810374e-01 -1.26915576e-02 -3.06501528e+01] [-5.40623012e-02 6.51133567e-04 9.98537352e-01 -1.04216671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.07, Y:-30.66, Z:-10.42 [[ 9.73586785e-01 2.22070056e-01 5.30439719e-02 1.58073444e+02] [-2.21701667e-01 9.75030456e-01 -1.28055152e-02 -3.06575320e+01] [-5.45632096e-02 7.07343425e-04 9.98510068e-01 -1.04239103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37264000000002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:158.10, Y:-30.67, Z:-10.43 [[ 9.73793095e-01 2.21072208e-01 5.34236560e-02 1.58101919e+02] [-2.20697107e-01 9.75257141e-01 -1.28956038e-02 -3.06650889e+01] [-5.49526616e-02 7.67203620e-04 9.98488666e-01 -1.04256434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:-30.67, Z:-10.43 [[ 9.73952006e-01 2.20346028e-01 5.35268039e-02 1.58130619e+02] [-2.19968411e-01 9.75421434e-01 -1.29199602e-02 -3.06734101e+01] [-5.50580537e-02 8.09215158e-04 9.98482827e-01 -1.04275795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:-30.68, Z:-10.43 [[ 9.73842261e-01 2.20856709e-01 5.34187617e-02 1.58157982e+02] [-2.20481448e-01 9.75305957e-01 -1.28927080e-02 -3.06809928e+01] [-5.49470775e-02 7.77618039e-04 9.98488965e-01 -1.04299526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:-30.69, Z:-10.43 [[ 9.73661091e-01 2.21678200e-01 5.33184361e-02 1.58186668e+02] [-2.21305695e-01 9.75119606e-01 -1.28663685e-02 -3.06876739e+01] [-5.48440458e-02 7.27808799e-04 9.98494667e-01 -1.04319199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:-30.70, Z:-10.43 [[ 9.72931920e-01 2.24881540e-01 5.32144031e-02 1.58214987e+02] [-2.24515346e-01 9.74385958e-01 -1.28399172e-02 -3.06957846e+01] [-5.47388275e-02 5.44915174e-04 9.98500558e-01 -1.04337607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:-30.70, Z:-10.44 [[ 9.72468086e-01 2.26908723e-01 5.30872270e-02 1.58242393e+02] [-2.26547360e-01 9.73915935e-01 -1.28080314e-02 -3.07031013e+01] [-5.46087504e-02 4.28630649e-04 9.98507737e-01 -1.04355433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:-30.71, Z:-10.44 [[ 9.71951722e-01 2.29129012e-01 5.30070370e-02 1.58270229e+02] [-2.28772142e-01 9.73396017e-01 -1.27867809e-02 -3.07099556e+01] [-5.45266611e-02 3.01600277e-04 9.98512269e-01 -1.04378985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:-30.72, Z:-10.44 [[ 9.71479722e-01 2.31204631e-01 5.26456880e-02 1.58298000e+02] [-2.30855796e-01 9.72905127e-01 -1.26970746e-02 -3.07163237e+01] [-5.41548822e-02 1.81388295e-04 9.98532531e-01 -1.04395316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:-30.72, Z:-10.44 [[ 9.70403943e-01 2.35574495e-01 5.31116357e-02 1.58324934e+02] [-2.35226125e-01 9.71856292e-01 -1.28069015e-02 -3.07223068e+01] [-5.46338568e-02 -6.53765512e-05 9.98506453e-01 -1.04406315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-30.73, Z:-10.44 [[ 9.69909531e-01 2.37492910e-01 5.35968228e-02 1.58353594e+02] [-2.37141288e-01 9.71389255e-01 -1.29199134e-02 -3.07282086e+01] [-5.51317656e-02 -1.78872442e-04 9.98479072e-01 -1.04423023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:-30.73, Z:-10.44 [[ 9.68926894e-01 2.41482955e-01 5.35411734e-02 1.58381217e+02] [-2.41138286e-01 9.70404975e-01 -1.29039088e-02 -3.07332613e+01] [-5.50726951e-02 -4.07882510e-04 9.98482264e-01 -1.04444155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.41, Y:-30.74, Z:-10.45 [[ 9.68445851e-01 2.43439120e-01 5.33856530e-02 1.58409369e+02] [-2.43099615e-01 9.69916039e-01 -1.28628808e-02 -3.07391230e+01] [-5.49109295e-02 -5.21028170e-04 9.98491121e-01 -1.04464733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:-30.75, Z:-10.45 [[ 9.68065731e-01 2.44932009e-01 5.34513917e-02 1.58437615e+02] [-2.44594094e-01 9.69540066e-01 -1.28759179e-02 -3.07453132e+01] [-5.49769902e-02 -6.09159863e-04 9.98487436e-01 -1.04485389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:-30.75, Z:-10.45 [[ 9.68086147e-01 2.44851185e-01 5.34519306e-02 1.58466082e+02] [-2.44513270e-01 9.69560482e-01 -1.28736801e-02 -3.07520648e+01] [-5.49770155e-02 -6.06875009e-04 9.98487436e-01 -1.04505354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:158.49, Y:-30.76, Z:-10.45 [[ 9.67416262e-01 2.47504176e-01 5.33615935e-02 1.58493120e+02] [-2.47171704e-01 9.68886528e-01 -1.28469913e-02 -3.07566982e+01] [-5.48810130e-02 -7.61087728e-04 9.98492611e-01 -1.04528976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-30.76, Z:-10.46 [[ 9.67404131e-01 2.47084008e-01 5.54863988e-02 1.58519915e+02] [-2.46970511e-01 9.68981186e-01 -9.00154008e-03 -3.07636309e+01] [-5.59894131e-02 -4.99537721e-03 9.98418866e-01 -1.04551202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-30.76, Z:-10.46 [[ 9.67590065e-01 2.47065346e-01 5.22319905e-02 1.58549191e+02] [-2.46507007e-01 9.68992317e-01 -1.69760289e-02 -3.07619323e+01] [-5.48065860e-02 3.55028529e-03 9.98490678e-01 -1.04564509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-30.77, Z:-10.46 [[ 9.67868552e-01 2.45739525e-01 5.33155962e-02 1.58576322e+02] [-2.45405518e-01 9.69335668e-01 -1.28255632e-02 -3.07701315e+01] [-5.48324569e-02 -6.70482278e-04 9.98495344e-01 -1.04587100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:-30.78, Z:-10.46 [[ 9.68206000e-01 2.44454213e-01 5.30968902e-02 1.58603511e+02] [-2.44121246e-01 9.69660651e-01 -1.27686771e-02 -3.07760122e+01] [-5.46073220e-02 -5.99369230e-04 9.98507727e-01 -1.04606323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-30.78, Z:-10.46 [[ 9.68552980e-01 2.42967398e-01 5.35907495e-02 1.58631433e+02] [-2.42737244e-01 9.70031264e-01 -1.08617810e-02 -3.07827672e+01] [-5.46237611e-02 -2.48826046e-03 9.98503907e-01 -1.04629179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.66, Y:-30.79, Z:-10.47 [[ 9.69300308e-01 2.40229886e-01 5.24072108e-02 1.58658142e+02] [-2.39789608e-01 9.70714689e-01 -1.46265798e-02 -3.07851922e+01] [-5.43861909e-02 1.61084374e-03 9.98518677e-01 -1.04652638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-30.79, Z:-10.47 [[ 9.69912711e-01 2.37660893e-01 5.27885719e-02 1.58685616e+02] [-2.37322306e-01 9.71348161e-01 -1.26836063e-02 -3.07922070e+01] [-5.42904794e-02 -2.25914690e-04 9.98525159e-01 -1.04662202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:-30.80, Z:-10.47 [[ 9.71019834e-01 2.33052086e-01 5.29830792e-02 1.58713631e+02] [-2.32704285e-01 9.72464254e-01 -1.27275732e-02 -3.07985088e+01] [-5.44903381e-02 2.93364859e-05 9.98514297e-01 -1.04680345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:-30.81, Z:-10.47 [[ 9.71633523e-01 2.30567671e-01 5.26008171e-02 1.58740547e+02] [-2.30221371e-01 9.73056279e-01 -1.26332331e-02 -3.08058342e+01] [-5.40963705e-02 1.65040566e-04 9.98535706e-01 -1.04699856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:-30.81, Z:-10.47 [[ 9.72187536e-01 2.28337113e-01 5.20918223e-02 1.58766971e+02] [-2.27994463e-01 9.73582088e-01 -1.25076936e-02 -3.08132731e+01] [-5.35716358e-02 2.83176778e-04 9.98563969e-01 -1.04717388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:-30.82, Z:-10.47 [[ 9.72880536e-01 2.25411622e-01 5.18947313e-02 1.58795221e+02] [-2.25067584e-01 9.74263521e-01 -1.24569336e-02 -3.08204116e+01] [-5.33670812e-02 4.39286441e-04 9.98574865e-01 -1.04730201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:-30.83, Z:-10.47 [[ 9.73000119e-01 2.24814588e-01 5.22414495e-02 1.58822028e+02] [-2.24465209e-01 9.74401446e-01 -1.25376493e-02 -3.08271529e+01] [-5.37227904e-02 4.72746418e-04 9.98555776e-01 -1.04749775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.85, Y:-30.83, Z:-10.48 [[ 9.73045914e-01 2.24481003e-01 5.28197793e-02 1.58849997e+02] [-2.24123541e-01 9.74478340e-01 -1.26728977e-02 -3.08348187e+01] [-5.43165556e-02 4.93155361e-04 9.98523644e-01 -1.04773897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:-30.84, Z:-10.48 [[ 9.72944335e-01 2.24875926e-01 5.30107374e-02 1.58876441e+02] [-2.24516596e-01 9.74387293e-01 -1.27161760e-02 -3.08430329e+01] [-5.45125508e-02 4.70341108e-04 9.98512975e-01 -1.04773190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:-30.85, Z:-10.48 [[ 9.72777721e-01 2.25457759e-01 5.35938811e-02 1.58904462e+02] [-2.25091553e-01 9.74252845e-01 -1.28524837e-02 -3.08501235e+01] [-5.51116833e-02 4.39079888e-04 9.98480100e-01 -1.04792806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:158.93, Y:-30.86, Z:-10.48 [[ 9.72427742e-01 2.26887381e-01 5.39110572e-02 1.58931406e+02] [-2.26519160e-01 9.73920935e-01 -1.29260175e-02 -3.08583280e+01] [-5.54378575e-02 3.57730631e-04 9.98462075e-01 -1.04824333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:158.96, Y:-30.87, Z:-10.48 [[ 9.72292597e-01 2.27379452e-01 5.42742072e-02 1.58958855e+02] [-2.27007232e-01 9.73806180e-01 -1.30092133e-02 -3.08657482e+01] [-5.58105862e-02 3.28124262e-04 9.98441321e-01 -1.04849267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.99, Y:-30.87, Z:-10.49 [[ 9.72099644e-01 2.28187733e-01 5.43382060e-02 1.58985600e+02] [-2.27816038e-01 9.73617112e-01 -1.30220005e-02 -3.08727977e+01] [-5.58760680e-02 2.79567270e-04 9.98437673e-01 -1.04867174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:-30.88, Z:-10.49 [[ 9.71960392e-01 2.29107223e-01 5.29422089e-02 1.59012403e+02] [-2.28755929e-01 9.73401168e-01 -1.26843177e-02 -3.08798137e+01] [-5.44400768e-02 2.17810263e-04 9.98517016e-01 -1.04877720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:-30.89, Z:-10.49 [[ 9.71866591e-01 2.29687476e-01 5.21439631e-02 1.59040643e+02] [-2.29347727e-01 9.73264420e-01 -1.24895510e-02 -3.08870708e+01] [-5.36185574e-02 1.79077987e-04 9.98561474e-01 -1.04900988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-30.89, Z:-10.49 [[ 9.71675447e-01 2.30547929e-01 5.19083649e-02 1.59067977e+02] [-2.30212606e-01 9.73060962e-01 -1.24306113e-02 -3.08942478e+01] [-5.33758552e-02 1.28559819e-04 9.98574485e-01 -1.04926388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:-30.90, Z:-10.49 [[ 9.71378534e-01 2.31702352e-01 5.23236394e-02 1.59095485e+02] [-2.31363460e-01 9.72786727e-01 -1.25273039e-02 -3.09011072e+01] [-5.38023477e-02 6.29758150e-05 9.98551603e-01 -1.04945223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:-30.91, Z:-10.50 [[ 9.70365592e-01 2.35925822e-01 5.22458100e-02 1.59122581e+02] [-2.35594186e-01 9.71771052e-01 -1.25061238e-02 -3.09056928e+01] [-5.37214833e-02 -1.73296824e-04 9.98555943e-01 -1.04959368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:-30.91, Z:-10.50 [[ 9.69908064e-01 2.37867188e-01 5.19379362e-02 1.59150057e+02] [-2.37542410e-01 9.71297648e-01 -1.24290818e-02 -3.09110976e+01] [-5.34036660e-02 -2.82395863e-04 9.98572966e-01 -1.04978564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-30.92, Z:-10.50 [[ 9.69002509e-01 2.41355189e-01 5.27428739e-02 1.59177041e+02] [-2.41025606e-01 9.70436725e-01 -1.26182396e-02 -3.09165913e+01] [-5.42290994e-02 -4.85277315e-04 9.98528402e-01 -1.04998070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:-30.92, Z:-10.50 [[ 9.68616125e-01 2.42868066e-01 5.28952354e-02 1.59205456e+02] [-2.42539021e-01 9.70059159e-01 -1.26511463e-02 -3.09215508e+01] [-5.43840670e-02 -5.75054301e-04 9.98519926e-01 -1.05017532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:-30.93, Z:-10.50 [[ 9.68431524e-01 2.43603998e-01 5.28911770e-02 1.59232732e+02] [-2.43276240e-01 9.69874584e-01 -1.26476019e-02 -3.09257800e+01] [-5.43788147e-02 -6.18830314e-04 9.98520186e-01 -1.05037255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:-30.93, Z:-10.51 [[ 9.68388200e-01 2.43568964e-01 5.38372952e-02 1.59259695e+02] [-2.43229479e-01 9.69883375e-01 -1.28708579e-02 -3.09301649e+01] [-5.53508391e-02 -6.30830327e-04 9.98466768e-01 -1.05054416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:-30.94, Z:-10.51 [[ 9.68556364e-01 2.42768725e-01 5.44234804e-02 1.59286753e+02] [-2.42420898e-01 9.70084011e-01 -1.30045911e-02 -3.09364559e+01] [-5.59524562e-02 -5.97709504e-04 9.98433255e-01 -1.05072600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:-30.94, Z:-10.51 [[ 9.69053992e-01 2.40618212e-01 5.51111297e-02 1.59314053e+02] [-2.40258312e-01 9.70619720e-01 -1.31644044e-02 -3.09415298e+01] [-5.66595447e-02 -4.83888368e-04 9.98393440e-01 -1.05091099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:-30.95, Z:-10.51 [[ 9.69359658e-01 2.39266141e-01 5.56198514e-02 1.59341900e+02] [-2.38897545e-01 9.70953935e-01 -1.32822832e-02 -3.09466726e+01] [-5.71823142e-02 -4.12136457e-04 9.98363668e-01 -1.05106712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-30.95, Z:-10.51 [[ 9.69656127e-01 2.37923386e-01 5.62090534e-02 1.59369822e+02] [-2.37544890e-01 9.71283865e-01 -1.34193287e-02 -3.09519541e+01] [-5.77877187e-02 -3.40039142e-04 9.98328836e-01 -1.05128425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:-30.96, Z:-10.51 [[ 9.70247535e-01 2.35574788e-01 5.58949106e-02 1.59397903e+02] [-2.35196783e-01 9.71856203e-01 -1.33414753e-02 -3.09573009e+01] [-5.74647308e-02 -2.01769618e-04 9.98347517e-01 -1.05149794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.43, Y:-30.96, Z:-10.52 [[ 9.70375273e-01 2.35041512e-01 5.59224277e-02 1.59425335e+02] [-2.34662409e-01 9.71985318e-01 -1.33452596e-02 -3.09638346e+01] [-5.74924686e-02 -1.72981636e-04 9.98345925e-01 -1.05177002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:-30.97, Z:-10.52 [[ 9.70579619e-01 2.34402524e-01 5.50514235e-02 1.59452644e+02] [-2.34034319e-01 9.72139619e-01 -1.31338939e-02 -3.09704257e+01] [-5.65962877e-02 -1.36432718e-04 9.98397136e-01 -1.05189799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-30.98, Z:-10.52 [[ 9.70550666e-01 2.34586788e-01 5.47763030e-02 1.59479451e+02] [-2.34222733e-01 9.72095168e-01 -1.30650305e-02 -3.09764109e+01] [-5.63126630e-02 -1.49581362e-04 9.98413172e-01 -1.05205191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-30.98, Z:-10.52 [[ 9.70350877e-01 2.35406707e-01 5.47983382e-02 1.59506375e+02] [-2.35043895e-01 9.71896930e-01 -1.30662107e-02 -3.09819861e+01] [-5.63342103e-02 -2.01205856e-04 9.98411947e-01 -1.05222437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-30.99, Z:-10.52 [[ 9.69735271e-01 2.37804451e-01 5.53402840e-02 1.59535287e+02] [-2.37438572e-01 9.71312989e-01 -1.31910092e-02 -3.09851288e+01] [-5.68896173e-02 -3.48131093e-04 9.98380414e-01 -1.05237517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:159.56, Y:-30.99, Z:-10.53 [[ 9.69300141e-01 2.39418969e-01 5.59981548e-02 1.59563923e+02] [-2.39047192e-01 9.70916245e-01 -1.33448797e-02 -3.09893604e+01] [-5.75645355e-02 -4.51007855e-04 9.98341685e-01 -1.05267974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:-30.99, Z:-10.53 [[ 9.68382593e-01 2.42869315e-01 5.70057035e-02 1.59589649e+02] [-2.42618241e-01 9.70054974e-01 -1.13901862e-02 -3.09926494e+01] [-5.80649929e-02 -2.80056546e-03 9.98308877e-01 -1.05282923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264000000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:159.62, Y:-30.99, Z:-10.53 [[ 9.68321952e-01 2.43428021e-01 5.56362899e-02 1.59619655e+02] [-2.42952625e-01 9.69918150e-01 -1.52579487e-02 -3.09940832e+01] [-5.76768596e-02 1.25762403e-03 9.98334512e-01 -1.05311271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:-31.00, Z:-10.53 [[ 9.68231547e-01 2.43869907e-01 5.52733283e-02 1.59646972e+02] [-2.43515458e-01 9.69807691e-01 -1.31630025e-02 -3.09999721e+01] [-5.68145590e-02 -7.15075521e-04 9.98384492e-01 -1.05321396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:-31.00, Z:-10.53 [[ 9.68208989e-01 2.44002953e-01 5.50809714e-02 1.59674254e+02] [-2.43651419e-01 9.69774218e-01 -1.31130317e-02 -3.10023518e+01] [-5.66157244e-02 -7.24401692e-04 9.98395781e-01 -1.05338933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:159.70, Y:-31.01, Z:-10.54 [[ 9.68283614e-01 2.43643991e-01 5.53574641e-02 1.59701566e+02] [-2.43288628e-01 9.69864474e-01 -1.31736458e-02 -3.10061155e+01] [-5.68989175e-02 -7.12016094e-04 9.98379690e-01 -1.05372278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.73, Y:-31.01, Z:-10.54 [[ 9.68757603e-01 2.42159477e-01 5.35489990e-02 1.59728623e+02] [-2.41824915e-01 9.70236269e-01 -1.27394095e-02 -3.10075475e+01] [-5.50401497e-02 -6.08082315e-04 9.98483957e-01 -1.05383032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:-31.01, Z:-10.54 [[ 9.69097204e-01 2.40760521e-01 5.37120243e-02 1.59756234e+02] [-2.40422050e-01 9.70584404e-01 -1.27731195e-02 -3.10117673e+01] [-5.52073160e-02 -5.35160648e-04 9.98474770e-01 -1.05397993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:159.78, Y:-31.02, Z:-10.54 [[ 9.69382912e-01 2.39303528e-01 5.50508016e-02 1.59783758e+02] [-2.38945863e-01 9.70944696e-01 -1.30870858e-02 -3.10159643e+01] [-5.65830697e-02 -4.67763910e-04 9.98397785e-01 -1.05429640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-31.02, Z:-10.54 [[ 9.69809418e-01 2.37559327e-01 5.50931874e-02 1.59810971e+02] [-2.37198532e-01 9.71372961e-01 -1.30930313e-02 -3.10202822e+01] [-5.66264043e-02 -3.70278114e-04 9.98395369e-01 -1.05431620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264000000003 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:159.84, Y:-31.02, Z:-10.55 [[ 9.70644138e-01 2.34035498e-01 5.54738093e-02 1.59839012e+02] [-2.33664233e-01 9.72228037e-01 -1.31783685e-02 -3.10225255e+01] [-5.70173988e-02 -1.70739005e-04 9.98373170e-01 -1.05462066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:-31.03, Z:-10.55 [[ 9.70940852e-01 2.32690779e-01 5.59362389e-02 1.59865022e+02] [-2.32428522e-01 9.72548530e-01 -1.12400854e-02 -3.10284950e+01] [-5.70161711e-02 -2.08771920e-03 9.98371072e-01 -1.05471402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.89, Y:-31.03, Z:-10.55 [[ 9.71841853e-01 2.29356728e-01 5.40268814e-02 1.59893818e+02] [-2.28886765e-01 9.73340312e-01 -1.48150460e-02 -3.10297693e+01] [-5.59844721e-02 2.03184363e-03 9.98429572e-01 -1.05490122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:-31.04, Z:-10.55 [[ 9.72250177e-01 2.27553328e-01 5.43054021e-02 1.59921353e+02] [-2.27188015e-01 9.73765601e-01 -1.28903395e-02 -3.10361280e+01] [-5.58139721e-02 1.95098305e-04 9.98441166e-01 -1.05512815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:-31.04, Z:-10.55 [[ 9.72614877e-01 2.26029996e-01 5.41363342e-02 1.59949028e+02] [-2.25664826e-01 9.74120303e-01 -1.28461104e-02 -3.10413509e+01] [-5.56389085e-02 2.77651620e-04 9.98450918e-01 -1.05529433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:-31.05, Z:-10.55 [[ 9.73316844e-01 2.22911136e-01 5.44513276e-02 1.59975607e+02] [-2.22537052e-01 9.74838663e-01 -1.29167219e-02 -3.10462467e+01] [-5.59605405e-02 4.54625058e-04 9.98432878e-01 -1.05549146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:160.00, Y:-31.05, Z:-10.56 [[ 9.73638702e-01 2.21364976e-01 5.50020464e-02 1.60003212e+02] [-2.20981114e-01 9.75190880e-01 -1.30420666e-02 -3.10525352e+01] [-5.65245508e-02 5.43847303e-04 9.98401061e-01 -1.05572856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:-31.06, Z:-10.56 [[ 9.74020545e-01 2.19639486e-01 5.51586302e-02 1.60029748e+02] [-2.19250857e-01 9.75580895e-01 -1.30758891e-02 -3.10594707e+01] [-5.66836873e-02 6.42607704e-04 9.98391980e-01 -1.05582668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:-31.07, Z:-10.56 [[ 9.74454452e-01 2.17727537e-01 5.50748550e-02 1.60055802e+02] [-2.17337320e-01 9.76009303e-01 -1.30510164e-02 -3.10667773e+01] [-5.65951366e-02 7.47799703e-04 9.98396931e-01 -1.05599789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:-31.07, Z:-10.56 [[ 9.74596166e-01 2.17112369e-01 5.49957548e-02 1.60083067e+02] [-2.16722582e-01 9.76146308e-01 -1.30271868e-02 -3.10731821e+01] [-5.65122664e-02 7.77424328e-04 9.98401602e-01 -1.05617158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-31.08, Z:-10.56 [[ 9.74630412e-01 2.17131948e-01 5.43072518e-02 1.60110145e+02] [-2.16752120e-01 9.76141965e-01 -1.28601363e-02 -3.10804506e+01] [-5.58039339e-02 7.62667981e-04 9.98441455e-01 -1.05640011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:-31.09, Z:-10.57 [[ 9.74504548e-01 2.17965440e-01 5.32160959e-02 1.60136681e+02] [-2.17602186e-01 9.75956239e-01 -1.25979018e-02 -3.10895817e+01] [-5.46824881e-02 6.96773774e-04 9.98503550e-01 -1.05662241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:-31.10, Z:-10.57 [[ 9.74291723e-01 2.18849570e-01 5.34836772e-02 1.60163203e+02] [-2.18484196e-01 9.75758396e-01 -1.26573506e-02 -3.10964201e+01] [-5.49572028e-02 6.46613721e-04 9.98488502e-01 -1.05676090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:-31.10, Z:-10.57 [[ 9.73755091e-01 2.21237371e-01 5.34326468e-02 1.60190786e+02] [-2.20876550e-01 9.75219857e-01 -1.26404393e-02 -3.11023657e+01] [-5.49051157e-02 5.06673407e-04 9.98491448e-01 -1.05689652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:-31.11, Z:-10.57 [[ 9.73768226e-01 2.21179324e-01 5.34335884e-02 1.60218477e+02] [-2.20818634e-01 9.75233024e-01 -1.26364574e-02 -3.11087870e+01] [-5.49051231e-02 5.05848733e-04 9.98491448e-01 -1.05709026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-31.12, Z:-10.57 [[ 9.73386273e-01 2.22824717e-01 5.35566063e-02 1.60246132e+02] [-2.22465027e-01 9.74858439e-01 -1.26623454e-02 -3.11154696e+01] [-5.50315932e-02 4.10881286e-04 9.98484529e-01 -1.05723993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:-31.12, Z:-10.57 [[ 9.72954765e-01 2.24617801e-01 5.39061197e-02 1.60273775e+02] [-2.24256375e-01 9.74446894e-01 -1.27408529e-02 -3.11218164e+01] [-5.53904733e-02 3.07482594e-04 9.98464722e-01 -1.05745417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:-31.13, Z:-10.58 [[ 9.72530129e-01 2.26492540e-01 5.37240798e-02 1.60300306e+02] [-2.26136637e-01 9.74012880e-01 -1.26937150e-02 -3.11278194e+01] [-5.52029775e-02 1.96037520e-04 9.98475134e-01 -1.05760496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-31.13, Z:-10.58 [[ 9.71471959e-01 2.30972365e-01 5.37958993e-02 1.60327689e+02] [-2.30622592e-01 9.72960309e-01 -1.27065859e-02 -3.11321641e+01] [-5.52761450e-02 -6.24578797e-05 9.98471103e-01 -1.05775682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.35, Y:-31.14, Z:-10.58 [[ 9.70932662e-01 2.32978546e-01 5.48704106e-02 1.60354010e+02] [-2.32618087e-01 9.72481857e-01 -1.29561784e-02 -3.11378722e+01] [-5.63789904e-02 -1.84273112e-04 9.98409423e-01 -1.05802151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.38, Y:-31.14, Z:-10.58 [[ 9.70565018e-01 2.34498752e-01 5.48988242e-02 1.60379852e+02] [-2.34140636e-01 9.72116381e-01 -1.29577881e-02 -3.11435493e+01] [-5.64066315e-02 -2.77669759e-04 9.98407840e-01 -1.05822028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:-31.15, Z:-10.58 [[ 9.70668181e-01 2.34206585e-01 5.43190456e-02 1.60407244e+02] [-2.33855769e-01 9.72186817e-01 -1.28168769e-02 -3.11489782e+01] [-5.58100570e-02 -2.61887596e-04 9.98441370e-01 -1.05838141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-31.15, Z:-10.59 [[ 9.70909411e-01 2.33237370e-01 5.41778951e-02 1.60433865e+02] [-2.32887093e-01 9.72419809e-01 -1.27795283e-02 -3.11543977e+01] [-5.56643219e-02 -2.09568199e-04 9.98449518e-01 -1.05861597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:160.46, Y:-31.16, Z:-10.59 [[ 9.71897649e-01 2.28965036e-01 5.46806310e-02 1.60461304e+02] [-2.28601747e-01 9.73434647e-01 -1.28930038e-02 -3.11610241e+01] [-5.61800677e-02 3.05922603e-05 9.98420652e-01 -1.05886499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-31.17, Z:-10.59 [[ 9.72712795e-01 2.25436261e-01 5.48480763e-02 1.60487364e+02] [-2.25065364e-01 9.74257891e-01 -1.29283776e-02 -3.11687360e+01] [-5.63506963e-02 2.31196004e-04 9.98411010e-01 -1.05901925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.51, Y:-31.18, Z:-10.59 [[ 9.73464510e-01 2.22118146e-01 5.50488626e-02 1.60513870e+02] [-2.21739509e-01 9.75019668e-01 -1.29706276e-02 -3.11768054e+01] [-5.65547355e-02 4.19937853e-04 9.98399412e-01 -1.05924079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:-31.19, Z:-10.59 [[ 9.74945031e-01 2.15595656e-01 5.47786479e-02 1.60541008e+02] [-2.15210680e-01 9.76482406e-01 -1.29025045e-02 -3.11862778e+01] [-5.62721098e-02 7.90282647e-04 9.98415157e-01 -1.05935975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.57, Y:-31.19, Z:-10.60 [[ 9.75487053e-01 2.13129199e-01 5.47809693e-02 1.60567775e+02] [-2.12740454e-01 9.77023582e-01 -1.29003616e-02 -3.11944491e+01] [-5.62717426e-02 9.30007369e-04 9.98415057e-01 -1.05960074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.59, Y:-31.21, Z:-10.60 [[ 9.76168625e-01 2.10051044e-01 5.45286618e-02 1.60593850e+02] [-2.09661271e-01 9.77689803e-01 -1.28374692e-02 -3.12058945e+01] [-5.60086404e-02 1.09898614e-03 9.98429679e-01 -1.05981926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-31.21, Z:-10.60 [[ 9.76404496e-01 2.08987330e-01 5.43926054e-02 1.60621461e+02] [-2.08598053e-01 9.77917668e-01 -1.28018503e-02 -3.12146237e+01] [-5.58669143e-02 1.15359261e-03 9.98437558e-01 -1.05995516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:-31.22, Z:-10.60 [[ 9.76547473e-01 2.08301483e-01 5.44566422e-02 1.60648448e+02] [-2.07910371e-01 9.78063941e-01 -1.28142751e-02 -3.12226073e+01] [-5.59313106e-02 1.19164729e-03 9.98433908e-01 -1.06008654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:-31.23, Z:-10.60 [[ 9.76525568e-01 2.08405551e-01 5.44512796e-02 1.60674946e+02] [-2.08014881e-01 9.78041783e-01 -1.28093689e-02 -3.12338392e+01] [-5.59251702e-02 1.18199978e-03 9.98434263e-01 -1.06026632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-31.24, Z:-10.60 [[ 9.76428434e-01 2.08881050e-01 5.43711335e-02 1.60703206e+02] [-2.08492429e-01 9.77940379e-01 -1.27876060e-02 -3.12431922e+01] [-5.58428154e-02 1.15021237e-03 9.98438910e-01 -1.06046804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-31.25, Z:-10.61 [[ 9.76274556e-01 2.09641280e-01 5.42081575e-02 1.60731396e+02] [-2.09256235e-01 9.77777745e-01 -1.27479024e-02 -3.12525322e+01] [-5.56760166e-02 1.10205780e-03 9.98448279e-01 -1.06063135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-31.26, Z:-10.61 [[ 9.75844569e-01 2.11555582e-01 5.45124999e-02 1.60757570e+02] [-2.11169250e-01 9.77365459e-01 -1.28182087e-02 -3.12641758e+01] [-5.59903981e-02 9.97215597e-04 9.98430809e-01 -1.06083629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:-31.27, Z:-10.61 [[ 9.75610164e-01 2.12626987e-01 5.45396490e-02 1.60785793e+02] [-2.12242068e-01 9.77132996e-01 -1.28223492e-02 -3.12738279e+01] [-5.60188681e-02 9.34006325e-04 9.98429273e-01 -1.06103408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:-31.28, Z:-10.61 [[ 9.74983069e-01 2.15345960e-01 5.50829547e-02 1.60812505e+02] [-2.14957740e-01 9.76537507e-01 -1.29486539e-02 -3.12847154e+01] [-5.65790116e-02 7.84210886e-04 9.98397817e-01 -1.06117817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-31.29, Z:-10.61 [[ 9.74585024e-01 2.17139154e-01 5.50873700e-02 1.60840643e+02] [-2.16753812e-01 9.76140424e-01 -1.29482818e-02 -3.12935403e+01] [-5.65845877e-02 6.78804050e-04 9.98397578e-01 -1.06132978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.87, Y:-31.30, Z:-10.62 [[ 9.74135435e-01 2.19043383e-01 5.54991109e-02 1.60867917e+02] [-2.18655414e-01 9.75714953e-01 -1.30437606e-02 -3.13023743e+01] [-5.70084618e-02 5.71208347e-04 9.98373532e-01 -1.06157204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-31.31, Z:-10.62 [[ 9.73601185e-01 2.21453543e-01 5.53087672e-02 1.60894326e+02] [-2.21072223e-01 9.75170829e-01 -1.29971729e-02 -3.13115629e+01] [-5.68137663e-02 4.26830907e-04 9.98384702e-01 -1.06173511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:-31.32, Z:-10.62 [[ 9.72254608e-01 2.27326715e-01 5.51683075e-02 1.60921601e+02] [-2.26956967e-01 9.73818545e-01 -1.29605940e-02 -3.13221128e+01] [-5.66702102e-02 8.01655171e-05 9.98392949e-01 -1.06186964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-31.33, Z:-10.62 [[ 9.71501105e-01 2.30503861e-01 5.52591480e-02 1.60948874e+02] [-2.30138175e-01 9.73071405e-01 -1.29792834e-02 -3.13296001e+01] [-5.67628717e-02 -1.07851255e-04 9.98387683e-01 -1.06204211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-31.34, Z:-10.62 [[ 9.69952998e-01 2.36956117e-01 5.51632208e-02 1.60976901e+02] [-2.36602314e-01 9.71520232e-01 -1.29531560e-02 -3.13373418e+01] [-5.66615146e-02 -4.87793247e-04 9.98393327e-01 -1.06218510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:-31.34, Z:-10.62 [[ 9.69228376e-01 2.39973899e-01 5.48532921e-02 1.61004824e+02] [-2.39629041e-01 9.70779114e-01 -1.28776810e-02 -3.13445169e+01] [-5.63407376e-02 -6.63027955e-04 9.98411379e-01 -1.06242018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:-31.35, Z:-10.63 [[ 9.68606853e-01 2.42567998e-01 5.44199451e-02 1.61032265e+02] [-2.42232802e-01 9.70134068e-01 -1.27733841e-02 -3.13512001e+01] [-5.58930569e-02 -8.09908368e-04 9.98436433e-01 -1.06262789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:-31.36, Z:-10.63 [[ 9.67677490e-01 2.46469645e-01 5.34133768e-02 1.61059492e+02] [-2.46152843e-01 9.69149976e-01 -1.25340206e-02 -3.13565109e+01] [-5.48548285e-02 -1.01896498e-03 9.98493820e-01 -1.06283555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:-31.36, Z:-10.63 [[ 9.67388842e-01 2.47666404e-01 5.31053759e-02 1.61085719e+02] [-2.47355254e-01 9.68844764e-01 -1.24579837e-02 -3.13618646e+01] [-5.45362894e-02 -1.08417932e-03 9.98511201e-01 -1.06307061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-31.37, Z:-10.63 [[ 9.67054219e-01 2.48926834e-01 5.33063721e-02 1.61112269e+02] [-2.48615490e-01 9.68521593e-01 -1.25004886e-02 -3.13675190e+01] [-5.47400794e-02 -1.16413955e-03 9.98499959e-01 -1.06324552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-31.37, Z:-10.63 [[ 9.67049696e-01 2.48843262e-01 5.37765370e-02 1.61138145e+02] [-2.48526526e-01 9.68543056e-01 -1.26060991e-02 -3.13729679e+01] [-5.52218344e-02 -1.17417164e-03 9.98473420e-01 -1.06341839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:-31.38, Z:-10.64 [[ 9.67144589e-01 2.48461046e-01 5.38372731e-02 1.61165178e+02] [-2.48143262e-01 9.68641196e-01 -1.26156265e-02 -3.13787661e+01] [-5.52834924e-02 -1.15822163e-03 9.98470027e-01 -1.06358562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:-31.38, Z:-10.64 [[ 9.67522608e-01 2.47028372e-01 5.36375502e-02 1.61192754e+02] [-2.46710955e-01 9.69007650e-01 -1.25649873e-02 -3.13841387e+01] [-5.50791049e-02 -1.07606200e-03 9.98481414e-01 -1.06384475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-31.39, Z:-10.64 [[ 9.67810182e-01 2.46058761e-01 5.29012114e-02 1.61219134e+02] [-2.45748747e-01 9.69254387e-01 -1.23890177e-02 -3.13883937e+01] [-5.43231575e-02 -1.01018893e-03 9.98522896e-01 -1.06403334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:-31.39, Z:-10.64 [[ 9.68417547e-01 2.43764697e-01 5.24044607e-02 1.61246798e+02] [-2.43457451e-01 9.69834006e-01 -1.22666174e-02 -3.13912581e+01] [-5.38137964e-02 -8.79048934e-04 9.98550601e-01 -1.06425581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:-31.40, Z:-10.64 [[ 9.68747861e-01 2.42576125e-01 5.18112458e-02 1.61274919e+02] [-2.42274331e-01 9.70132038e-01 -1.21234355e-02 -3.13976904e+01] [-5.32046055e-02 -8.07982684e-04 9.98583305e-01 -1.06446239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:-31.40, Z:-10.65 [[ 9.69048309e-01 2.41480193e-01 5.13097523e-02 1.61301765e+02] [-2.41182808e-01 9.70405464e-01 -1.20036913e-02 -3.14035854e+01] [-5.26899177e-02 -7.42873396e-04 9.98610645e-01 -1.06471600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:-31.41, Z:-10.65 [[ 9.69293918e-01 2.40610354e-01 5.07538866e-02 1.61328753e+02] [-2.40318361e-01 9.70621543e-01 -1.18703773e-02 -3.14084568e+01] [-5.21189514e-02 -6.91206335e-04 9.98640645e-01 -1.06489718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.36, Y:-31.41, Z:-10.65 [[ 9.69493604e-01 2.39864048e-01 5.04716738e-02 1.61357022e+02] [-2.39574521e-01 9.70806270e-01 -1.17998208e-02 -3.14121557e+01] [-5.18285701e-02 -6.51876265e-04 9.98655784e-01 -1.06505691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:161.38, Y:-31.42, Z:-10.65 [[ 9.69600754e-01 2.39402421e-01 5.06049163e-02 1.61383429e+02] [-2.39110903e-01 9.70920224e-01 -1.18277206e-02 -3.14168380e+01] [-5.19649217e-02 -6.32020461e-04 9.98648711e-01 -1.06531517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:-31.42, Z:-10.65 [[ 9.69675602e-01 2.38999133e-01 5.10748543e-02 1.61411248e+02] [-2.38701938e-01 9.71019581e-01 -1.19313672e-02 -3.14201387e+01] [-5.24462701e-02 -6.22111001e-04 9.98623554e-01 -1.06533207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:-31.43, Z:-10.65 [[ 9.69701365e-01 2.38804405e-01 5.14948464e-02 1.61438293e+02] [-2.38502224e-01 9.71067491e-01 -1.20257107e-02 -3.14251077e+01] [-5.28767640e-02 -6.20287344e-04 9.98600853e-01 -1.06545314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:-31.43, Z:-10.66 [[ 9.69669684e-01 2.38769527e-01 5.22476463e-02 1.61465927e+02] [-2.38458652e-01 9.71076059e-01 -1.21966510e-02 -3.14282886e+01] [-5.36486271e-02 -6.32180560e-04 9.98559675e-01 -1.06555249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:-31.43, Z:-10.66 [[ 9.69655090e-01 2.38826894e-01 5.22563046e-02 1.61492744e+02] [-2.38516202e-01 9.71061948e-01 -1.21948728e-02 -3.14327639e+01] [-5.36565725e-02 -6.39154843e-04 9.98559244e-01 -1.06574625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-31.44, Z:-10.66 [[ 9.69658165e-01 2.38852277e-01 5.20829362e-02 1.61520023e+02] [-2.38543935e-01 9.71055702e-01 -1.21496799e-02 -3.14371570e+01] [-5.34774109e-02 -6.43032271e-04 9.98568852e-01 -1.06594293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.55, Y:-31.44, Z:-10.66 [[ 9.69751116e-01 2.38430552e-01 5.22842747e-02 1.61547665e+02] [-2.38119420e-01 9.71159348e-01 -1.21926913e-02 -3.14416266e+01] [-5.36834722e-02 -6.26025182e-04 9.98557806e-01 -1.06623840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:-31.45, Z:-10.66 [[ 9.69871595e-01 2.37835331e-01 5.27583508e-02 1.61574587e+02] [-2.37517884e-01 9.71305303e-01 -1.22988870e-02 -3.14468140e+01] [-5.41695758e-02 -6.02710724e-04 9.98531569e-01 -1.06635023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:-31.45, Z:-10.67 [[ 9.69996265e-01 2.37135443e-01 5.36099597e-02 1.61601063e+02] [-2.36806786e-01 9.71476428e-01 -1.24938515e-02 -3.14532574e+01] [-5.50435471e-02 -5.76212969e-04 9.98483789e-01 -1.06657496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:-31.46, Z:-10.67 [[ 9.70352699e-01 2.35514082e-01 5.43024570e-02 1.61628531e+02] [-2.35174526e-01 9.71870811e-01 -1.26518259e-02 -3.14587617e+01] [-5.57546561e-02 -4.93821159e-04 9.98444377e-01 -1.06671499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:-31.46, Z:-10.67 [[ 9.70497448e-01 2.34948967e-01 5.41635245e-02 1.61656023e+02] [-2.34610493e-01 9.72007596e-01 -1.26154203e-02 -3.14636107e+01] [-5.56113373e-02 -4.64098050e-04 9.98452384e-01 -1.06695050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:-31.47, Z:-10.67 [[ 9.70506377e-01 2.35004237e-01 5.37622685e-02 1.61682567e+02] [-2.34671060e-01 9.71994234e-01 -1.25181391e-02 -3.14685416e+01] [-5.51984307e-02 -4.67514692e-04 9.98475295e-01 -1.06713218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:-31.47, Z:-10.67 [[ 9.70148363e-01 2.36626500e-01 5.31041771e-02 1.61710215e+02] [-2.36304117e-01 9.71600529e-01 -1.23602501e-02 -3.14744463e+01] [-5.45208093e-02 -5.57459248e-04 9.98512479e-01 -1.06735281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:-31.48, Z:-10.68 [[ 9.69870145e-01 2.37875816e-01 5.26022600e-02 1.61736183e+02] [-2.37561542e-01 9.71295375e-01 -1.22396418e-02 -3.14796265e+01] [-5.40038467e-02 -6.25410846e-04 9.98540532e-01 -1.06751313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-31.48, Z:-10.68 [[ 9.69541059e-01 2.39355077e-01 5.19546203e-02 1.61764012e+02] [-2.39050870e-01 9.70931847e-01 -1.20842709e-02 -3.14848395e+01] [-5.33368271e-02 -7.03600387e-04 9.98576330e-01 -1.06769537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:-31.49, Z:-10.68 [[ 9.69158564e-01 2.40922395e-01 5.18466806e-02 1.61790312e+02] [-2.40621870e-01 9.70544061e-01 -1.20557990e-02 -3.14897132e+01] [-5.32239999e-02 -7.91464374e-04 9.98582285e-01 -1.06788678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:-31.49, Z:-10.68 [[ 9.68417311e-01 2.43867527e-01 5.19282276e-02 1.61817981e+02] [-2.43570674e-01 9.69808076e-01 -1.20674293e-02 -3.14924480e+01] [-5.33032686e-02 -9.61885940e-04 9.98577907e-01 -1.06806021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.85, Y:-31.49, Z:-10.68 [[ 9.67673845e-01 2.46553477e-01 5.30915513e-02 1.61845636e+02] [-2.46247425e-01 9.69128519e-01 -1.23336643e-02 -3.14930322e+01] [-5.44934443e-02 -1.13869339e-03 9.98513479e-01 -1.06818875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:-31.50, Z:-10.68 [[ 9.67387455e-01 2.47534035e-01 5.37439639e-02 1.61872698e+02] [-2.47222197e-01 9.68878439e-01 -1.24802356e-02 -3.14974439e+01] [-5.51606509e-02 -1.21347747e-03 9.98476755e-01 -1.06838617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:-31.50, Z:-10.69 [[ 9.67310371e-01 2.47844172e-01 5.37020698e-02 1.61899379e+02] [-2.47533523e-01 9.68799124e-01 -1.24664155e-02 -3.15024133e+01] [-5.51162466e-02 -1.23416957e-03 9.98479182e-01 -1.06859765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:-31.51, Z:-10.69 [[ 9.67353597e-01 2.47675086e-01 5.37035321e-02 1.61927095e+02] [-2.47364527e-01 9.68842369e-01 -1.24601129e-02 -3.15086459e+01] [-5.51163168e-02 -1.23101381e-03 9.98479182e-01 -1.06879130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:-31.51, Z:-10.69 [[ 9.67509275e-01 2.47152308e-01 5.33060842e-02 1.61954447e+02] [-2.46846147e-01 9.68975897e-01 -1.23567948e-02 -3.15134623e+01] [-5.47063211e-02 -1.20308795e-03 9.98501763e-01 -1.06897081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:-31.52, Z:-10.69 [[ 9.68148143e-01 2.44527288e-01 5.38105746e-02 1.61981541e+02] [-2.44211473e-01 9.69641822e-01 -1.24696787e-02 -3.15158917e+01] [-5.52261603e-02 -1.06866339e-03 9.98473299e-01 -1.06929590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:-31.52, Z:-10.70 [[ 9.68719461e-01 2.42357271e-01 5.33437777e-02 1.62007995e+02] [-2.42043889e-01 9.70186615e-01 -1.23567315e-02 -3.15202548e+01] [-5.47481628e-02 -9.41329132e-04 9.98499751e-01 -1.06951103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:-31.52, Z:-10.70 [[ 9.70177275e-01 2.36531463e-01 5.29992595e-02 1.62036215e+02] [-2.36213684e-01 9.71623637e-01 -1.22721062e-02 -3.15238289e+01] [-5.43980725e-02 -6.13031715e-04 9.98519140e-01 -1.06972814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:-31.53, Z:-10.70 [[ 9.71025178e-01 2.33052880e-01 5.28815582e-02 1.62064218e+02] [-2.32731562e-01 9.72463973e-01 -1.22410057e-02 -3.15287350e+01] [-5.42782118e-02 -4.20882864e-04 9.98525763e-01 -1.06990287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:162.09, Y:-31.53, Z:-10.70 [[ 9.72839821e-01 2.25355984e-01 5.28901017e-02 1.62090576e+02] [-2.25023384e-01 9.74276491e-01 -1.22391303e-02 -3.15345958e+01] [-5.42877439e-02 5.20365484e-06 9.98525333e-01 -1.07021799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:-31.54, Z:-10.70 [[ 9.73783137e-01 2.21186585e-01 5.31309416e-02 1.62117351e+02] [-2.20845007e-01 9.75231480e-01 -1.22899652e-02 -3.15418092e+01] [-5.45333423e-02 2.34057723e-04 9.98511923e-01 -1.07030101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:-31.55, Z:-10.70 [[ 9.74653481e-01 2.17186377e-01 5.36718631e-02 1.62144480e+02] [-2.16831975e-01 9.76130047e-01 -1.24107527e-02 -3.15495572e+01] [-5.50861646e-02 4.58407278e-04 9.98481499e-01 -1.07047074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:162.17, Y:-31.56, Z:-10.71 [[ 9.75446250e-01 2.13490271e-01 5.40972993e-02 1.62171792e+02] [-2.13124742e-01 9.76944961e-01 -1.25055128e-02 -3.15570339e+01] [-5.55198893e-02 6.68982629e-04 9.98457357e-01 -1.07072129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-31.57, Z:-10.71 [[ 9.76626608e-01 2.07889643e-01 5.46110286e-02 1.62197956e+02] [-2.07508524e-01 9.78151782e-01 -1.26215963e-02 -3.15680397e+01] [-5.60417741e-02 9.94332817e-04 9.98427930e-01 -1.07084436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:-31.58, Z:-10.71 [[ 9.76929946e-01 2.06473743e-01 5.45570743e-02 1.62224413e+02] [-2.06091366e-01 9.78451555e-01 -1.26056702e-02 -3.15770026e+01] [-5.59841942e-02 1.07111475e-03 9.98431081e-01 -1.07098555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-31.59, Z:-10.71 [[ 9.76927344e-01 2.06549024e-01 5.43181929e-02 1.62251249e+02] [-2.06170298e-01 9.78435680e-01 -1.25470427e-02 -3.15869782e+01] [-5.57384374e-02 1.05875103e-03 9.98444844e-01 -1.07114449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-31.59, Z:-10.71 [[ 9.76616939e-01 2.08094473e-01 5.40004219e-02 1.62279367e+02] [-2.07722677e-01 9.78108258e-01 -1.24709595e-02 -3.15947801e+01] [-5.54133964e-02 9.62238097e-04 9.98463034e-01 -1.07131609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-31.60, Z:-10.71 [[ 9.76133569e-01 2.10391771e-01 5.38382512e-02 1.62306116e+02] [-2.10025841e-01 9.77616806e-01 -1.24308958e-02 -3.16030912e+01] [-5.52485373e-02 8.26790780e-04 9.98472291e-01 -1.07147644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-31.61, Z:-10.72 [[ 9.74742975e-01 2.16626954e-01 5.43037374e-02 1.62332180e+02] [-2.16264514e-01 9.76254341e-01 -1.25348315e-02 -3.16131381e+01] [-5.57296417e-02 4.74267537e-04 9.98445783e-01 -1.07166608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-31.62, Z:-10.72 [[ 9.73877054e-01 2.20449888e-01 5.44548550e-02 1.62359003e+02] [-2.20091583e-01 9.75398269e-01 -1.25663259e-02 -3.16198371e+01] [-5.58854164e-02 2.53001230e-04 9.98437157e-01 -1.07184461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-31.63, Z:-10.72 [[ 9.72988881e-01 2.24335353e-01 5.44636214e-02 1.62386797e+02] [-2.23983200e-01 9.74512005e-01 -1.25649270e-02 -3.16261076e+01] [-5.58942102e-02 2.65980489e-05 9.98436696e-01 -1.07203644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-31.63, Z:-10.72 [[ 9.71140357e-01 2.32142763e-01 5.47370482e-02 1.62413534e+02] [-2.31799572e-01 9.72681631e-01 -1.26254879e-02 -3.16329738e+01] [-5.61726370e-02 -4.26903529e-04 9.98420980e-01 -1.07221075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:-31.64, Z:-10.72 [[ 9.70286309e-01 2.35735464e-01 5.45277001e-02 1.62440190e+02] [-2.35400783e-01 9.71817054e-01 -1.25731964e-02 -3.16386377e+01] [-5.59548971e-02 -6.36262921e-04 9.98433095e-01 -1.07241644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.47, Y:-31.64, Z:-10.73 [[ 9.68666956e-01 2.42517002e-01 5.35708064e-02 1.62468147e+02] [-2.42204579e-01 9.70146625e-01 -1.23477415e-02 -3.16416786e+01] [-5.49660743e-02 -1.01424547e-03 9.98487707e-01 -1.07273540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-31.65, Z:-10.73 [[ 9.67915555e-01 2.45512919e-01 5.35059391e-02 1.62495193e+02] [-2.45206049e-01 9.69392592e-01 -1.23286596e-02 -3.16464979e+01] [-5.48951062e-02 -1.18687851e-03 9.98491421e-01 -1.07292349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:-31.65, Z:-10.73 [[ 9.67279643e-01 2.48054121e-01 5.32845626e-02 1.62521376e+02] [-2.47753852e-01 9.68745264e-01 -1.22736760e-02 -3.16511088e+01] [-5.46637036e-02 -1.32937869e-03 9.98503937e-01 -1.07310842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-31.66, Z:-10.73 [[ 9.66810708e-01 2.49892374e-01 5.32057942e-02 1.62549224e+02] [-2.49596042e-01 9.68272554e-01 -1.22505663e-02 -3.16560039e+01] [-5.45790333e-02 -1.43597698e-03 9.98508421e-01 -1.07329399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-31.66, Z:-10.73 [[ 9.66416749e-01 2.51519297e-01 5.26945015e-02 1.62576040e+02] [-2.51231261e-01 9.67851095e-01 -1.21289456e-02 -3.16581971e+01] [-5.40510949e-02 -1.51688985e-03 9.98537019e-01 -1.07348404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:-31.66, Z:-10.74 [[ 9.66599798e-01 2.50875558e-01 5.24050021e-02 1.62603496e+02] [-2.50589999e-01 9.68018219e-01 -1.20574027e-02 -3.16628905e+01] [-5.37539044e-02 -1.47748642e-03 9.98553121e-01 -1.07371886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:-31.67, Z:-10.74 [[ 9.67568880e-01 2.47246929e-01 5.17631045e-02 1.62630320e+02] [-2.46963331e-01 9.68951680e-01 -1.19060484e-02 -3.16666330e+01] [-5.30996810e-02 -1.26366685e-03 9.98588417e-01 -1.07395781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.66, Y:-31.67, Z:-10.74 [[ 9.68211335e-01 2.44605847e-01 5.22952268e-02 1.62658173e+02] [-2.44312791e-01 9.69621932e-01 -1.20236746e-02 -3.16715436e+01] [-5.36476599e-02 -1.13493480e-03 9.98559282e-01 -1.07421271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-31.67, Z:-10.74 [[ 9.69669258e-01 2.38411741e-01 5.38643836e-02 1.62684843e+02] [-2.38091491e-01 9.71163822e-01 -1.23803145e-02 -3.16742291e+01] [-5.52627530e-02 -8.19840997e-04 9.98471510e-01 -1.07430266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.71, Y:-31.68, Z:-10.75 [[ 9.70452159e-01 2.35280544e-01 5.35319817e-02 1.62711874e+02] [-2.34959745e-01 9.71927288e-01 -1.22989807e-02 -3.16792158e+01] [-5.49229046e-02 -6.42288382e-04 9.98490392e-01 -1.07453897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.74, Y:-31.68, Z:-10.75 [[ 9.71151007e-01 2.32387599e-01 5.34950916e-02 1.62738941e+02] [-2.32063077e-01 9.72623139e-01 -1.22864410e-02 -3.16848956e+01] [-5.48857805e-02 -4.82246025e-04 9.98492523e-01 -1.07474595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.76, Y:-31.69, Z:-10.75 [[ 9.71748494e-01 2.29811447e-01 5.37732506e-02 1.62764945e+02] [-2.29479814e-01 9.73235111e-01 -1.23463928e-02 -3.16903188e+01] [-5.51713579e-02 -3.42286896e-04 9.98476842e-01 -1.07492235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:-31.70, Z:-10.75 [[ 9.72734738e-01 2.25470964e-01 5.43136579e-02 1.62792184e+02] [-2.25126135e-01 9.74249883e-01 -1.24655216e-02 -3.16957795e+01] [-5.57256880e-02 -1.01777976e-04 9.98446111e-01 -1.07511088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:-31.70, Z:-10.75 [[ 9.73137878e-01 2.23817121e-01 5.39311364e-02 1.62819183e+02] [-2.23474824e-01 9.74631159e-01 -1.23736433e-02 -3.17014371e+01] [-5.53323992e-02 -1.09902569e-05 9.98467989e-01 -1.07534406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:-31.71, Z:-10.76 [[ 9.73455295e-01 2.22587131e-01 5.32893765e-02 1.62845190e+02] [-2.22251306e-01 9.74912799e-01 -1.22225497e-02 -3.17072362e+01] [-5.46730775e-02 5.44722345e-05 9.98504307e-01 -1.07556053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:-31.71, Z:-10.76 [[ 9.73897615e-01 2.20858075e-01 5.23941373e-02 1.62872688e+02] [-2.20531199e-01 9.75305947e-01 -1.20125168e-02 -3.17126071e+01] [-5.37533750e-02 1.44419545e-04 9.98554232e-01 -1.07576248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-31.72, Z:-10.76 [[ 9.74026124e-01 2.20375406e-01 5.20364376e-02 1.62899236e+02] [-2.20052496e-01 9.75415118e-01 -1.19266897e-02 -3.17178693e+01] [-5.33854771e-02 1.66159359e-04 9.98573965e-01 -1.07593082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.93, Y:-31.72, Z:-10.76 [[ 9.74108482e-01 2.20043820e-01 5.18978122e-02 1.62926133e+02] [-2.19722416e-01 9.75489972e-01 -1.18901045e-02 -3.17236603e+01] [-5.32421393e-02 1.79139003e-04 9.98581615e-01 -1.07615639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:162.95, Y:-31.73, Z:-10.76 [[ 9.74127577e-01 2.19869499e-01 5.22768322e-02 1.62952575e+02] [-2.19543339e-01 9.75529276e-01 -1.19730476e-02 -3.17291672e+01] [-5.36300883e-02 1.86245576e-04 9.98560854e-01 -1.07628814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.98, Y:-31.73, Z:-10.76 [[ 9.74163689e-01 2.19690086e-01 5.23581147e-02 1.62979666e+02] [-2.19362913e-01 9.75569695e-01 -1.19867834e-02 -3.17348135e+01] [-5.37123675e-02 1.91660584e-04 9.98556430e-01 -1.07647717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-31.74, Z:-10.77 [[ 9.74304841e-01 2.18892930e-01 5.30656368e-02 1.63005565e+02] [-2.18555882e-01 9.75748856e-01 -1.21448024e-02 -3.17420581e+01] [-5.44371458e-02 2.34932714e-04 9.98517172e-01 -1.07667556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-31.75, Z:-10.77 [[ 9.74413432e-01 2.18319776e-01 5.34316272e-02 1.63032722e+02] [-2.17977469e-01 9.75877249e-01 -1.22236363e-02 -3.17494715e+01] [-5.48113709e-02 2.63984574e-04 9.98496692e-01 -1.07685579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-31.76, Z:-10.77 [[ 9.74574680e-01 2.17582770e-01 5.34970223e-02 1.63058869e+02] [-2.17238717e-01 9.76041826e-01 -1.22349002e-02 -3.17559107e+01] [-5.48774348e-02 3.02199417e-04 9.98493052e-01 -1.07703499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:-31.76, Z:-10.77 [[ 9.74734869e-01 2.16824410e-01 5.36573440e-02 1.63085253e+02] [-2.16477485e-01 9.76210561e-01 -1.22653355e-02 -3.17626681e+01] [-5.50402901e-02 3.39843315e-04 9.98484076e-01 -1.07725624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.11, Y:-31.77, Z:-10.77 [[ 9.74825448e-01 2.16498372e-01 5.33272986e-02 1.63112843e+02] [-2.16155499e-01 9.76282916e-01 -1.21847651e-02 -3.17700145e+01] [-5.47005124e-02 3.51030240e-04 9.98502744e-01 -1.07746300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:-31.78, Z:-10.78 [[ 9.74823510e-01 2.16409989e-01 5.37200328e-02 1.63139500e+02] [-2.16062051e-01 9.76302509e-01 -1.22719253e-02 -3.17765899e+01] [-5.51027700e-02 3.56100803e-04 9.98480625e-01 -1.07761515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:-31.78, Z:-10.78 [[ 9.74516377e-01 2.17609844e-01 5.44406739e-02 1.63166574e+02] [-2.17254589e-01 9.76035795e-01 -1.24326594e-02 -3.17820081e+01] [-5.58415155e-02 2.88344018e-04 9.98439604e-01 -1.07772772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:-31.79, Z:-10.78 [[ 9.74295649e-01 2.18616215e-01 5.43593519e-02 1.63193067e+02] [-2.18263782e-01 9.75810893e-01 -1.24105821e-02 -3.17888235e+01] [-5.57576022e-02 2.26898436e-04 9.98444309e-01 -1.07789229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:163.22, Y:-31.80, Z:-10.78 [[ 9.74104609e-01 2.19584321e-01 5.38789056e-02 1.63219127e+02] [-2.19239749e-01 9.75593511e-01 -1.22977237e-02 -3.17963855e+01] [-5.52642980e-02 1.66871538e-04 9.98471747e-01 -1.07805916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-31.80, Z:-10.78 [[ 9.73802384e-01 2.20837675e-01 5.42184291e-02 1.63246407e+02] [-2.20490956e-01 9.75310573e-01 -1.23703311e-02 -3.18029645e+01] [-5.56116423e-02 9.15846869e-05 9.98452471e-01 -1.07824962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:-31.81, Z:-10.78 [[ 9.73700946e-01 2.21299276e-01 5.41580802e-02 1.63274143e+02] [-2.20954268e-01 9.75205941e-01 -1.23525314e-02 -3.18086977e+01] [-5.55488878e-02 6.12125687e-05 9.98455967e-01 -1.07847982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:163.30, Y:-31.82, Z:-10.79 [[ 9.73677518e-01 2.21650398e-01 5.31337087e-02 1.63299954e+02] [-2.21319058e-01 9.75126197e-01 -1.21150703e-02 -3.18150628e+01] [-5.44973815e-02 3.66692555e-05 9.98513913e-01 -1.07864602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.33, Y:-31.82, Z:-10.79 [[ 9.73641549e-01 2.21917263e-01 5.26769534e-02 1.63327012e+02] [-2.21592249e-01 9.75065499e-01 -1.20061319e-02 -3.18222294e+01] [-5.40278478e-02 1.68642687e-05 9.98539429e-01 -1.07890128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.35, Y:-31.83, Z:-10.79 [[ 9.73685177e-01 2.21749875e-01 5.25753595e-02 1.63353257e+02] [-2.21426077e-01 9.75103580e-01 -1.19791488e-02 -3.18285672e+01] [-5.39227961e-02 2.23640527e-05 9.98545107e-01 -1.07907293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.38, Y:-31.84, Z:-10.79 [[ 9.73975752e-01 2.20499303e-01 5.24527604e-02 1.63380200e+02] [-2.20175458e-01 9.75387128e-01 -1.19464418e-02 -3.18374322e+01] [-5.37959294e-02 8.67341189e-05 9.98551947e-01 -1.07934069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264000000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:163.41, Y:-31.85, Z:-10.80 [[ 9.74170080e-01 2.19699069e-01 5.22012902e-02 1.63407100e+02] [-2.19377401e-01 9.75567683e-01 -1.18849633e-02 -3.18452388e+01] [-5.35370070e-02 1.26192213e-04 9.98565858e-01 -1.07951337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-31.85, Z:-10.80 [[ 9.74434297e-01 2.18363937e-01 5.28676815e-02 1.63434100e+02] [-2.18032223e-01 9.75867384e-01 -1.20332200e-02 -3.18522566e+01] [-5.42194674e-02 1.98724128e-04 9.98529023e-01 -1.07967888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:-31.86, Z:-10.80 [[ 9.74885571e-01 2.16216590e-01 5.33714231e-02 1.63461639e+02] [-2.15875498e-01 9.76345372e-01 -1.21443171e-02 -3.18599970e+01] [-5.47347447e-02 3.17736979e-04 9.98500880e-01 -1.07980091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.49, Y:-31.87, Z:-10.80 [[ 9.75101459e-01 2.15292690e-01 5.31620442e-02 1.63489076e+02] [-2.14953045e-01 9.76549499e-01 -1.20939890e-02 -3.18679217e+01] [-5.45191151e-02 3.65523031e-04 9.98512660e-01 -1.07994597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-31.88, Z:-10.80 [[ 9.75233633e-01 2.14466803e-01 5.40680277e-02 1.63515727e+02] [-2.14114354e-01 9.76731190e-01 -1.22974181e-02 -3.18756911e+01] [-5.54473169e-02 4.16114935e-04 9.98461528e-01 -1.08013732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-31.89, Z:-10.80 [[ 9.75285414e-01 2.14029531e-01 5.48609286e-02 1.63541685e+02] [-2.13666169e-01 9.76827089e-01 -1.24741905e-02 -3.18851668e+01] [-5.62594863e-02 4.43971561e-04 9.98416082e-01 -1.08025677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.57, Y:-31.89, Z:-10.80 [[ 9.75165319e-01 2.14595960e-01 5.47829778e-02 1.63569870e+02] [-2.14234724e-01 9.76702825e-01 -1.24529174e-02 -3.18926271e+01] [-5.61790350e-02 4.07237073e-04 9.98420628e-01 -1.08041254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:-31.90, Z:-10.81 [[ 9.74647440e-01 2.16774347e-01 5.54188684e-02 1.63596783e+02] [-2.16408339e-01 9.76221698e-01 -1.25947708e-02 -3.18999814e+01] [-5.68313250e-02 2.82355877e-04 9.98383754e-01 -1.08058366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:-31.91, Z:-10.81 [[ 9.74285068e-01 2.18463693e-01 5.51563377e-02 1.63623812e+02] [-2.18104046e-01 9.75845061e-01 -1.25316662e-02 -3.19069139e+01] [-5.65617538e-02 1.79594874e-04 9.98399086e-01 -1.08076443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-31.91, Z:-10.81 [[ 9.74292689e-01 2.18429502e-01 5.51571312e-02 1.63652365e+02] [-2.18069998e-01 9.75852715e-01 -1.25281726e-02 -3.19133147e+01] [-5.65617587e-02 1.77991503e-04 9.98399086e-01 -1.08096386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-31.92, Z:-10.81 [[ 9.73841259e-01 2.20602517e-01 5.44768932e-02 1.63680116e+02] [-2.20255330e-01 9.75363792e-01 -1.23718449e-02 -3.19196411e+01] [-5.58640493e-02 4.93869433e-05 9.98438383e-01 -1.08111871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:-31.92, Z:-10.81 [[ 9.72552573e-01 2.26306689e-01 5.40996867e-02 1.63707385e+02] [-2.25973233e-01 9.74056058e-01 -1.22838482e-02 -3.19240971e+01] [-5.54760446e-02 -2.78392948e-04 9.98459980e-01 -1.08126499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-31.93, Z:-10.81 [[ 9.71816103e-01 2.29397130e-01 5.43177476e-02 1.63734726e+02] [-2.29066027e-01 9.73332803e-01 -1.23292656e-02 -3.19296929e+01] [-5.56975437e-02 -4.60571767e-04 9.98447581e-01 -1.08146380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:-31.93, Z:-10.82 [[ 9.71111509e-01 2.32401152e-01 5.41492494e-02 1.63762422e+02] [-2.32076996e-01 9.72619813e-01 -1.22868489e-02 -3.19346559e+01] [-5.55221107e-02 -6.34894699e-04 9.98457256e-01 -1.08162174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:-31.94, Z:-10.82 [[ 9.69800737e-01 2.37921991e-01 5.36624265e-02 1.63789359e+02] [-2.37612290e-01 9.71283806e-01 -1.21724583e-02 -3.19366662e+01] [-5.50175414e-02 -9.45992956e-04 9.98484940e-01 -1.08178829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67264000000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.82, Y:-31.94, Z:-10.82 [[ 9.69374726e-01 2.39653585e-01 5.36544413e-02 1.63816653e+02] [-2.39346898e-01 9.70857898e-01 -1.21656706e-02 -3.19408232e+01] [-5.50063847e-02 -1.04893052e-03 9.98485452e-01 -1.08201057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:-31.94, Z:-10.82 [[ 9.68976988e-01 2.41097725e-01 5.43643563e-02 1.63844129e+02] [-2.40785362e-01 9.70500162e-01 -1.23225271e-02 -3.19425208e+01] [-5.57315499e-02 -1.14989600e-03 9.98445127e-01 -1.08222382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-31.95, Z:-10.82 [[ 9.69087036e-01 2.40645432e-01 5.44067388e-02 1.63871621e+02] [-2.40332148e-01 9.70612436e-01 -1.23271399e-02 -3.19455643e+01] [-5.57743272e-02 -1.12961690e-03 9.98442762e-01 -1.08239561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-31.95, Z:-10.83 [[ 9.69433271e-01 2.39254861e-01 5.43713573e-02 1.63899662e+02] [-2.38940035e-01 9.70956231e-01 -1.23149145e-02 -3.19496361e+01] [-5.57386113e-02 -1.05300615e-03 9.98444840e-01 -1.08260828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:-31.95, Z:-10.83 [[ 9.70779585e-01 2.33749504e-01 5.42970306e-02 1.63926003e+02] [-2.33427150e-01 9.72296571e-01 -1.22940326e-02 -3.19541611e+01] [-5.56665407e-02 -7.39605260e-04 9.98449142e-01 -1.08280973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.95, Y:-31.96, Z:-10.83 [[ 9.71571777e-01 2.30465020e-01 5.41678549e-02 1.63953802e+02] [-2.30139371e-01 9.73080452e-01 -1.22598168e-02 -3.19594153e+01] [-5.55351397e-02 -5.54864054e-04 9.98456579e-01 -1.08303193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85264000000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.98, Y:-31.96, Z:-10.83 [[ 9.72418811e-01 2.26933003e-01 5.38801340e-02 1.63980854e+02] [-2.26605598e-01 9.73910307e-01 -1.21908427e-02 -3.19636036e+01] [-5.52409224e-02 -3.54935230e-04 9.98472991e-01 -1.08316546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-31.97, Z:-10.83 [[ 9.73314192e-01 2.23090589e-01 5.37593885e-02 1.64008340e+02] [-2.22759156e-01 9.74797707e-01 -1.21568894e-02 -3.19682993e+01] [-5.51166163e-02 -1.42923008e-04 9.98479914e-01 -1.08343781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:-31.97, Z:-10.84 [[ 9.74951296e-01 2.15790146e-01 5.38941832e-02 1.64036406e+02] [-2.15446135e-01 9.76439728e-01 -1.21828218e-02 -3.19739947e+01] [-5.52533544e-02 2.66364486e-04 9.98472331e-01 -1.08367030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:164.06, Y:-31.98, Z:-10.84 [[ 9.75687416e-01 2.12476977e-01 5.37364064e-02 1.64063429e+02] [-2.12130099e-01 9.77165969e-01 -1.21445205e-02 -3.19799269e+01] [-5.50898187e-02 4.50146629e-04 9.98481301e-01 -1.08384124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:-31.99, Z:-10.84 [[ 9.77316656e-01 2.04994162e-01 5.31934862e-02 1.64091420e+02] [-2.04643367e-01 9.78762818e-01 -1.20182511e-02 -3.19865620e+01] [-5.45274777e-02 8.59942921e-04 9.98511900e-01 -1.08407589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:164.12, Y:-31.99, Z:-10.84 [[ 9.78028799e-01 2.01596893e-01 5.30882411e-02 1.64118242e+02] [-2.01242622e-01 9.79468019e-01 -1.19919135e-02 -3.19934604e+01] [-5.44157668e-02 1.04481992e-03 9.98517818e-01 -1.08420278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03264000000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.15, Y:-32.00, Z:-10.84 [[ 9.78677280e-01 1.98336611e-01 5.34169411e-02 1.64145035e+02] [-1.97973272e-01 9.80133192e-01 -1.20626977e-02 -3.19997670e+01] [-5.47481916e-02 1.23036153e-03 9.98499435e-01 -1.08436569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:-32.01, Z:-10.84 [[ 9.79783982e-01 1.92745098e-01 5.35973420e-02 1.64173546e+02] [-1.92371149e-01 9.81247646e-01 -1.20995312e-02 -3.20074837e+01] [-5.49243910e-02 1.54434454e-03 9.98489322e-01 -1.08448917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-32.02, Z:-10.85 [[ 9.80204232e-01 1.90442291e-01 5.41423756e-02 1.64201273e+02] [-1.90057250e-01 9.81696939e-01 -1.22213522e-02 -3.20155402e+01] [-5.54788667e-02 1.68927012e-03 9.98458433e-01 -1.08463202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.23, Y:-32.02, Z:-10.85 [[ 9.80469873e-01 1.88980457e-01 5.44537839e-02 1.64230360e+02] [-1.88588858e-01 9.81979236e-01 -1.22891629e-02 -3.20248297e+01] [-5.57948967e-02 1.77977707e-03 9.98440665e-01 -1.08477248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:164.26, Y:-32.04, Z:-10.85 [[ 9.80860879e-01 1.86835200e-01 5.48137186e-02 1.64259296e+02] [-1.86435057e-01 9.82389405e-01 -1.23703932e-02 -3.20359640e+01] [-5.61596413e-02 1.91443598e-03 9.98419967e-01 -1.08495951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.29, Y:-32.05, Z:-10.85 [[ 9.81010744e-01 1.86180397e-01 5.43578771e-02 1.64289441e+02] [-1.85785902e-01 9.82513671e-01 -1.22672184e-02 -3.20456826e+01] [-5.56912730e-02 1.93534586e-03 9.98446161e-01 -1.08520149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:-32.06, Z:-10.85 [[ 9.81130041e-01 1.85570635e-01 5.42898010e-02 1.64319286e+02] [-1.85176120e-01 9.82628955e-01 -1.22532133e-02 -3.20555264e+01] [-5.56205670e-02 1.96882095e-03 9.98450037e-01 -1.08547144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:-32.07, Z:-10.86 [[ 9.81068403e-01 1.86055855e-01 5.37401946e-02 1.64349091e+02] [-1.85670054e-01 9.82537291e-01 -1.21285861e-02 -3.20674839e+01] [-5.50583397e-02 1.92102776e-03 9.98481291e-01 -1.08564588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:-32.08, Z:-10.86 [[ 9.80893331e-01 1.87106064e-01 5.32878375e-02 1.64379202e+02] [-1.86727713e-01 9.82337963e-01 -1.20369271e-02 -3.20768477e+01] [-5.45988478e-02 1.85662555e-03 9.98506644e-01 -1.08585284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:-32.09, Z:-10.86 [[ 9.80394548e-01 1.89996473e-01 5.22290257e-02 1.64407308e+02] [-1.89636777e-01 9.81783356e-01 -1.18040399e-02 -3.20888529e+01] [-5.35203141e-02 1.66807232e-03 9.98565368e-01 -1.08601694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:164.44, Y:-32.10, Z:-10.86 [[ 9.79980286e-01 1.92177655e-01 5.20229466e-02 1.64437045e+02] [-1.91823837e-01 9.81358939e-01 -1.17579100e-02 -3.20991890e+01] [-5.33127913e-02 1.54327877e-03 9.98576669e-01 -1.08615097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:-32.11, Z:-10.86 [[ 9.79498272e-01 1.94538484e-01 5.23250777e-02 1.64465643e+02] [-1.94183855e-01 9.80893853e-01 -1.18270774e-02 -3.21090581e+01] [-5.36261688e-02 1.42391653e-03 9.98560067e-01 -1.08634232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.50, Y:-32.12, Z:-10.86 [[ 9.78896121e-01 1.97526428e-01 5.23993838e-02 1.64495313e+02] [-1.97174868e-01 9.80296745e-01 -1.18474787e-02 -3.21194852e+01] [-5.37071355e-02 1.26560931e-03 9.98555928e-01 -1.08643957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:-32.13, Z:-10.87 [[ 9.77547808e-01 2.03864256e-01 5.32883489e-02 1.64523825e+02] [-2.03509964e-01 9.78998719e-01 -1.20500303e-02 -3.21321711e+01] [-5.46257958e-02 9.34770708e-04 9.98506459e-01 -1.08666880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:-32.14, Z:-10.87 [[ 9.76810059e-01 2.07273591e-01 5.36634581e-02 1.64552914e+02] [-2.06919379e-01 9.78282728e-01 -1.21357029e-02 -3.21412225e+01] [-5.50134449e-02 7.50267263e-04 9.98485332e-01 -1.08680161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:-32.15, Z:-10.87 [[ 9.76011917e-01 2.10865317e-01 5.41900013e-02 1.64582019e+02] [-2.10509640e-01 9.77514968e-01 -1.22547778e-02 -3.21497474e+01] [-5.55556450e-02 5.53291529e-04 9.98455439e-01 -1.08701637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:-32.16, Z:-10.87 [[ 9.74660254e-01 2.17068073e-01 5.40262941e-02 1.64610672e+02] [-2.16724051e-01 9.76156449e-01 -1.22177563e-02 -3.21594252e+01] [-5.53902002e-02 1.99364152e-04 9.98464765e-01 -1.08716276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-32.17, Z:-10.87 [[ 9.74078112e-01 2.19757094e-01 5.36530652e-02 1.64638382e+02] [-2.19421878e-01 9.75554620e-01 -1.21335136e-02 -3.21685461e+01] [-5.50079214e-02 4.63337049e-05 9.98485917e-01 -1.08743798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:-32.18, Z:-10.88 [[ 9.73135432e-01 2.24016069e-01 5.31434973e-02 1.64666279e+02] [-2.23693561e-01 9.74585432e-01 -1.20177771e-02 -3.21801035e+01] [-5.44850535e-02 -1.92933505e-04 9.98514568e-01 -1.08763713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:-32.19, Z:-10.88 [[ 9.72660734e-01 2.26063453e-01 5.31640042e-02 1.64695334e+02] [-2.25743825e-01 9.74112529e-01 -1.20210547e-02 -3.21878573e+01] [-5.45052437e-02 -3.09037811e-04 9.98513437e-01 -1.08783420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:-32.19, Z:-10.88 [[ 9.72232479e-01 2.27939954e-01 5.29847458e-02 1.64723751e+02] [-2.27625336e-01 9.73675103e-01 -1.19791749e-02 -3.21948544e+01] [-5.43204604e-02 -4.14127695e-04 9.98523468e-01 -1.08804418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:-32.20, Z:-10.88 [[ 9.71383419e-01 2.31380183e-01 5.36420094e-02 1.64750824e+02] [-2.31063010e-01 9.72863214e-01 -1.21265435e-02 -3.22026810e+01] [-5.49921795e-02 -6.15160865e-04 9.98486596e-01 -1.08823040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:-32.21, Z:-10.88 [[ 9.71027176e-01 2.32717283e-01 5.43036717e-02 1.64778097e+02] [-2.32394420e-01 9.72544176e-01 -1.22743252e-02 -3.22091609e+01] [-5.56691673e-02 -7.01166974e-04 9.98449023e-01 -1.08839012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:-32.22, Z:-10.89 [[ 9.70819973e-01 2.33613710e-01 5.41591512e-02 1.64806100e+02] [-2.33294155e-01 9.72329196e-01 -1.22381141e-02 -3.22150474e+01] [-5.55195152e-02 -7.54007831e-04 9.98457318e-01 -1.08856719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:-32.22, Z:-10.89 [[ 9.70695572e-01 2.34315955e-01 5.33492264e-02 1.64834206e+02] [-2.34007094e-01 9.72160181e-01 -1.20524948e-02 -3.22214371e+01] [-5.46880854e-02 -7.84794146e-04 9.98503178e-01 -1.08882840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:-32.23, Z:-10.89 [[ 9.70765668e-01 2.33939897e-01 5.37228291e-02 1.64861040e+02] [-2.33626256e-01 9.72250754e-01 -1.21343695e-02 -3.22282005e+01] [-5.50707742e-02 -7.71434138e-04 9.98482155e-01 -1.08904242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:-32.23, Z:-10.89 [[ 9.71187233e-01 2.31945299e-01 5.47424636e-02 1.64888101e+02] [-2.31616659e-01 9.72728597e-01 -1.23612153e-02 -3.22349865e+01] [-5.61166856e-02 -6.74211993e-04 9.98423990e-01 -1.08922064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:164.92, Y:-32.24, Z:-10.89 [[ 9.71562662e-01 2.30405439e-01 5.45832191e-02 1.64916514e+02] [-2.30076476e-01 9.73094543e-01 -1.23217768e-02 -3.22416666e+01] [-5.59536370e-02 -5.86936377e-04 9.98433196e-01 -1.08937027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:-32.25, Z:-10.90 [[ 9.72220800e-01 2.27636114e-01 5.44840880e-02 1.64944588e+02] [-2.27304146e-01 9.73746176e-01 -1.22967493e-02 -3.22481600e+01] [-5.58528565e-02 -4.29303597e-04 9.98438919e-01 -1.08965027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:164.97, Y:-32.26, Z:-10.90 [[ 9.73645543e-01 2.21629452e-01 5.38028153e-02 1.64971692e+02] [-2.21296714e-01 9.75130955e-01 -1.21402542e-02 -3.22571404e+01] [-5.51554285e-02 -8.60818115e-05 9.98477777e-01 -1.08983646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:-32.27, Z:-10.90 [[ 9.74437296e-01 2.18230820e-01 5.33597811e-02 1.64999601e+02] [-2.17898561e-01 9.75897176e-01 -1.20382092e-02 -3.22656137e+01] [-5.47007679e-02 1.03460459e-04 9.98502787e-01 -1.09014788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:-32.27, Z:-10.90 [[ 9.75245542e-01 2.14734782e-01 5.27741077e-02 1.65027325e+02] [-2.14404740e-01 9.76672354e-01 -1.19046667e-02 -3.22746136e+01] [-5.40993580e-02 2.94954336e-04 9.98535514e-01 -1.09041744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.06, Y:-32.29, Z:-10.91 [[ 9.76565590e-01 2.08788843e-01 5.22194083e-02 1.65057272e+02] [-2.08457263e-01 9.77960551e-01 -1.17784195e-02 -3.22864123e+01] [-5.35277239e-02 6.16884276e-04 9.98566173e-01 -1.09054049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:-32.29, Z:-10.91 [[ 9.77060545e-01 2.06444577e-01 5.22812396e-02 1.65087804e+02] [-2.06108895e-01 9.78458012e-01 -1.17916327e-02 -3.22947044e+01] [-5.35893164e-02 7.45510562e-04 9.98562782e-01 -1.09084719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:-32.30, Z:-10.91 [[ 9.77297470e-01 2.05286335e-01 5.24135061e-02 1.65118829e+02] [-2.04946822e-01 9.78701614e-01 -1.18301012e-02 -3.23027648e+01] [-5.37257412e-02 8.19546445e-04 9.98555393e-01 -1.09101443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-32.31, Z:-10.91 [[ 9.77154548e-01 2.05841407e-01 5.28989970e-02 1.65148583e+02] [-2.05495894e-01 9.78585033e-01 -1.19486578e-02 -3.23123746e+01] [-5.42256952e-02 8.05158632e-04 9.98528380e-01 -1.09117354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-32.32, Z:-10.91 [[ 9.76813594e-01 2.07470404e-01 5.28321281e-02 1.65180379e+02] [-2.07127748e-01 9.78241029e-01 -1.19408672e-02 -3.23224375e+01] [-5.41599320e-02 7.21001637e-04 9.98532013e-01 -1.09137414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-32.33, Z:-10.92 [[ 9.76263406e-01 2.09971275e-01 5.31208686e-02 1.65210964e+02] [-2.09627948e-01 9.77707373e-01 -1.20172843e-02 -3.23329979e+01] [-5.44599495e-02 5.96416148e-04 9.98515778e-01 -1.09157626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.24, Y:-32.34, Z:-10.92 [[ 9.74776458e-01 2.16577746e-01 5.38974700e-02 1.65239534e+02] [-2.16233667e-01 9.76265343e-01 -1.22057461e-02 -3.23430675e+01] [-5.52617250e-02 2.43426342e-04 9.98471874e-01 -1.09166267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:-32.35, Z:-10.92 [[ 9.73945535e-01 2.20251661e-01 5.40305437e-02 1.65272093e+02] [-2.19911620e-01 9.75443081e-01 -1.22341652e-02 -3.23500132e+01] [-5.53983152e-02 3.34661631e-05 9.98464334e-01 -1.09190360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:-32.36, Z:-10.92 [[ 9.72382676e-01 2.27144078e-01 5.36423346e-02 1.65302741e+02] [-2.26818751e-01 9.73861103e-01 -1.21575314e-02 -3.23568234e+01] [-5.50016944e-02 -3.45314425e-04 9.98486201e-01 -1.09222295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-32.36, Z:-10.92 [[ 9.71680137e-01 2.30212508e-01 5.32908374e-02 1.65333324e+02] [-2.29895467e-01 9.73140250e-01 -1.20883564e-02 -3.23635811e+01] [-5.46423497e-02 -5.05306122e-04 9.98505863e-01 -1.09244605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-32.37, Z:-10.93 [[ 9.71127411e-01 2.32649341e-01 5.27810211e-02 1.65363179e+02] [-2.32341855e-01 9.72560477e-01 -1.19741862e-02 -3.23700739e+01] [-5.41185216e-02 -6.34779943e-04 9.98534317e-01 -1.09270285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-32.38, Z:-10.93 [[ 9.70332183e-01 2.36100557e-01 5.20766973e-02 1.65392499e+02] [-2.35806146e-01 9.71728286e-01 -1.18152133e-02 -3.23778988e+01] [-5.33939783e-02 -8.15323572e-04 9.98573191e-01 -1.09294525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-32.39, Z:-10.93 [[ 9.69988546e-01 2.37498503e-01 5.21218017e-02 1.65420715e+02] [-2.37205579e-01 9.71387494e-01 -1.18257965e-02 -3.23851939e+01] [-5.34390753e-02 -8.92695037e-04 9.98570713e-01 -1.09314805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:-32.39, Z:-10.93 [[ 9.69997712e-01 2.37461011e-01 5.21220303e-02 1.65450075e+02] [-2.37168086e-01 9.71396661e-01 -1.18247887e-02 -3.23918007e+01] [-5.34390925e-02 -8.91664158e-04 9.98570713e-01 -1.09335314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:-32.40, Z:-10.94 [[ 9.69759191e-01 2.38401042e-01 5.22690690e-02 1.65478620e+02] [-2.38107952e-01 9.71166332e-01 -1.18557900e-02 -3.23986351e+01] [-5.35883927e-02 -9.48419593e-04 9.98562659e-01 -1.09355914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:-32.40, Z:-10.94 [[ 9.69266988e-01 2.40259463e-01 5.28856919e-02 1.65508676e+02] [-2.39962264e-01 9.70708121e-01 -1.19939991e-02 -3.24042313e+01] [-5.42182424e-02 -1.06518299e-03 9.98528541e-01 -1.09369851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.54, Y:-32.41, Z:-10.94 [[ 9.69050672e-01 2.40977134e-01 5.35799949e-02 1.65539798e+02] [-2.40673189e-01 9.70530147e-01 -1.21511267e-02 -3.24106456e+01] [-5.49291440e-02 -1.12021077e-03 9.98489627e-01 -1.09386458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:-32.42, Z:-10.94 [[ 9.68856875e-01 2.41539280e-01 5.45447725e-02 1.65569804e+02] [-2.41225186e-01 9.70390334e-01 -1.23697045e-02 -3.24169480e+01] [-5.59174896e-02 -1.17309967e-03 9.98434704e-01 -1.09407169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:-32.42, Z:-10.94 [[ 9.68510650e-01 2.42738563e-01 5.53634509e-02 1.65596811e+02] [-2.42416231e-01 9.70090939e-01 -1.25674831e-02 -3.24222289e+01] [-5.67581948e-02 -1.24925794e-03 9.98387173e-01 -1.09420804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:-32.43, Z:-10.94 [[ 9.68317092e-01 2.43441348e-01 5.56625505e-02 1.65626216e+02] [-2.43116915e-01 9.69914747e-01 -1.26312705e-02 -3.24280342e+01] [-5.70629021e-02 -1.30143249e-03 9.98369737e-01 -1.09444354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:-32.43, Z:-10.95 [[ 9.68060365e-01 2.44461167e-01 5.56584982e-02 1.65654075e+02] [-2.44138536e-01 9.69658126e-01 -1.26291066e-02 -3.24324475e+01] [-5.70570412e-02 -1.36264671e-03 9.98369990e-01 -1.09463047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:-32.44, Z:-10.95 [[ 9.68021749e-01 2.44608868e-01 5.56811947e-02 1.65682620e+02] [-2.44286342e-01 9.69620861e-01 -1.26320711e-02 -3.24381316e+01] [-5.70795646e-02 -1.37403586e-03 9.98368687e-01 -1.09487048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:-32.44, Z:-10.95 [[ 9.67977625e-01 2.44804861e-01 5.55868370e-02 1.65713657e+02] [-2.44483860e-01 9.69571380e-01 -1.26087648e-02 -3.24443677e+01] [-5.69820932e-02 -1.38508219e-03 9.98374240e-01 -1.09509384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.74, Y:-32.45, Z:-10.95 [[ 9.68079421e-01 2.44538996e-01 5.49810413e-02 1.65742540e+02] [-2.44224425e-01 9.69638515e-01 -1.24731754e-02 -3.24491401e+01] [-5.63619130e-02 -1.35268876e-03 9.98409488e-01 -1.09527383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:-32.45, Z:-10.96 [[ 9.68201396e-01 2.44094829e-01 5.48066731e-02 1.65772888e+02] [-2.43781589e-01 9.69750464e-01 -1.24327749e-02 -3.24549670e+01] [-5.61835728e-02 -1.32342784e-03 9.98419578e-01 -1.09551929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:-32.46, Z:-10.96 [[ 9.68276090e-01 2.43782456e-01 5.48773848e-02 1.65801915e+02] [-2.43467897e-01 9.69829060e-01 -1.24489623e-02 -3.24606367e+01] [-5.62565212e-02 -1.30684896e-03 9.98415493e-01 -1.09572859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.83, Y:-32.47, Z:-10.96 [[ 9.68376771e-01 2.43471265e-01 5.44809277e-02 1.65832096e+02] [-2.43160793e-01 9.69907266e-01 -1.23581812e-02 -3.24661972e+01] [-5.58503096e-02 -1.28024997e-03 9.98438333e-01 -1.09592121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-32.47, Z:-10.96 [[ 9.68777715e-01 2.42021583e-01 5.38079266e-02 1.65861798e+02] [-2.41716487e-01 9.70270147e-01 -1.22058407e-02 -3.24698201e+01] [-5.51623017e-02 -1.18151653e-03 9.98476702e-01 -1.09610443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:-32.48, Z:-10.96 [[ 9.69055114e-01 2.40908607e-01 5.38073249e-02 1.65891252e+02] [-2.40601880e-01 9.70547160e-01 -1.22043283e-02 -3.24752296e+01] [-5.51626740e-02 -1.11947679e-03 9.98476753e-01 -1.09630287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-32.48, Z:-10.97 [[ 9.69494297e-01 2.39271125e-01 5.31990383e-02 1.65920171e+02] [-2.38968898e-01 9.70952263e-01 -1.20651779e-02 -3.24787632e+01] [-5.45405753e-02 -1.01579440e-03 9.98511038e-01 -1.09651503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-32.48, Z:-10.97 [[ 9.69676624e-01 2.38532938e-01 5.31910024e-02 1.65947914e+02] [-2.38229788e-01 9.71133917e-01 -1.20616327e-02 -3.24826233e+01] [-5.45326832e-02 -9.75797981e-04 9.98511509e-01 -1.09673622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.98, Y:-32.49, Z:-10.97 [[ 9.69726782e-01 2.38266719e-01 5.34690397e-02 1.65976113e+02] [-2.37960178e-01 9.71199275e-01 -1.21211571e-02 -3.24870616e+01] [-5.48171609e-02 -9.69291485e-04 9.98495939e-01 -1.09685566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:-32.49, Z:-10.97 [[ 9.70072539e-01 2.36817486e-01 5.36353203e-02 1.66005621e+02] [-2.36506959e-01 9.71553746e-01 -1.21563361e-02 -3.24887742e+01] [-5.49884293e-02 -8.92598733e-04 9.98486593e-01 -1.09715826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.03, Y:-32.49, Z:-10.97 [[ 9.70309291e-01 2.35805358e-01 5.38118282e-02 1.66034169e+02] [-2.35491374e-01 9.71799942e-01 -1.21936840e-02 -3.24939396e+01] [-5.51696675e-02 -8.40576460e-04 9.98476640e-01 -1.09731659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-32.50, Z:-10.98 [[ 9.70597329e-01 2.34452832e-01 5.45224222e-02 1.66063793e+02] [-2.34128536e-01 9.72127186e-01 -1.23516342e-02 -3.24981140e+01] [-5.58986045e-02 -7.76791667e-04 9.98436148e-01 -1.09756529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-32.50, Z:-10.98 [[ 9.71082662e-01 2.32141449e-01 5.57567176e-02 1.66092590e+02] [-2.31798567e-01 9.72681815e-01 -1.26298105e-02 -3.24995967e+01] [-5.71654478e-02 -6.59737279e-04 9.98364501e-01 -1.09765459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.12, Y:-32.50, Z:-10.98 [[ 9.71364794e-01 2.30864242e-01 5.61439068e-02 1.66121293e+02] [-2.30514544e-01 9.72985793e-01 -1.27158036e-02 -3.25046809e+01] [-5.75628480e-02 -5.90303108e-04 9.98341710e-01 -1.09784208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.15, Y:-32.51, Z:-10.98 [[ 9.72369616e-01 2.26415686e-01 5.68618233e-02 1.66150098e+02] [-2.26049453e-01 9.74030711e-01 -1.28770399e-02 -3.25081236e+01] [-5.83007261e-02 -3.32341725e-04 9.98299011e-01 -1.09806012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:-32.51, Z:-10.98 [[ 9.73086618e-01 2.23268068e-01 5.70421197e-02 1.66180133e+02] [-2.22894249e-01 9.74757071e-01 -1.29153298e-02 -3.25128182e+01] [-5.84857902e-02 -1.46625844e-04 9.98288230e-01 -1.09835159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.21, Y:-32.52, Z:-10.98 [[ 9.73715437e-01 2.20494698e-01 5.70993601e-02 1.66210153e+02] [-2.20115366e-01 9.75388173e-01 -1.29281696e-02 -3.25187075e+01] [-5.85446333e-02 1.99117476e-05 9.98284792e-01 -1.09846390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:166.24, Y:-32.52, Z:-10.99 [[ 9.74356601e-01 2.17508049e-01 5.76147863e-02 1.66240895e+02] [-2.17116574e-01 9.76058506e-01 -1.30455185e-02 -3.25246789e+01] [-5.90729075e-02 2.01862084e-04 9.98253651e-01 -1.09874683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.27, Y:-32.53, Z:-10.99 [[ 9.75753994e-01 2.10990108e-01 5.82006648e-02 1.66271265e+02] [-2.10578924e-01 9.77488010e-01 -1.31798130e-02 -3.25295859e+01] [-5.96712621e-02 6.04421773e-04 9.98217900e-01 -1.09898672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:-32.54, Z:-10.99 [[ 9.76470072e-01 2.07691242e-01 5.80564060e-02 1.66300714e+02] [-2.07276223e-01 9.78194101e-01 -1.31478985e-02 -3.25358457e+01] [-5.95211373e-02 8.04816832e-04 9.98226721e-01 -1.09920888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:166.33, Y:-32.54, Z:-10.99 [[ 9.77622346e-01 2.02065897e-01 5.85142872e-02 1.66332909e+02] [-2.01634268e-01 9.79371246e-01 -1.32508358e-02 -3.25437668e+01] [-5.99847524e-02 1.15582770e-03 9.98198624e-01 -1.09937838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:-32.55, Z:-11.00 [[ 9.78158671e-01 1.99593334e-01 5.80354673e-02 1.66365100e+02] [-1.99163703e-01 9.79877946e-01 -1.31540807e-02 -3.25505880e+01] [-5.94931414e-02 1.30821950e-03 9.98227857e-01 -1.09959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.40, Y:-32.56, Z:-11.00 [[ 9.78800279e-01 1.96417489e-01 5.80532784e-02 1.66396679e+02] [-1.95981303e-01 9.80519189e-01 -1.31700114e-02 -3.25598538e+01] [-5.95091740e-02 1.51345366e-03 9.98226611e-01 -1.09986877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:-32.57, Z:-11.00 [[ 9.78929647e-01 1.95576529e-01 5.87074662e-02 1.66427549e+02] [-1.95128190e-01 9.80687146e-01 -1.33308050e-02 -3.25683001e+01] [-6.01808500e-02 1.59443859e-03 9.98186217e-01 -1.10011349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:-32.58, Z:-11.00 [[ 9.78993981e-01 1.95139633e-01 5.90872937e-02 1.66459305e+02] [-1.94683985e-01 9.80774095e-01 -1.34283828e-02 -3.25765093e+01] [-6.05716966e-02 1.64295612e-03 9.98162497e-01 -1.10029078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:-32.58, Z:-11.00 [[ 9.78954193e-01 1.95079772e-01 5.99380548e-02 1.66490481e+02] [-1.94610009e-01 9.80785935e-01 -1.36342759e-02 -3.25846885e+01] [-6.14461726e-02 1.68278620e-03 9.98108980e-01 -1.10049883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:-32.60, Z:-11.01 [[ 9.78829159e-01 1.95379511e-01 6.09944602e-02 1.66520165e+02] [-1.94892843e-01 9.80726230e-01 -1.38867340e-02 -3.25958935e+01] [-6.25320503e-02 1.70535637e-03 9.98041499e-01 -1.10077213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:166.55, Y:-32.61, Z:-11.01 [[ 9.78733632e-01 1.95781999e-01 6.12363099e-02 1.66551519e+02] [-1.95291785e-01 9.80645981e-01 -1.39491104e-02 -3.26058165e+01] [-6.27821260e-02 1.69351515e-03 9.98025820e-01 -1.10095772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:-32.62, Z:-11.01 [[ 9.78716154e-01 1.96405689e-01 5.94936584e-02 1.66580902e+02] [-1.95943437e-01 9.80521386e-01 -1.35639839e-02 -3.26183470e+01] [-6.09988480e-02 1.61789825e-03 9.98136525e-01 -1.10139329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.61, Y:-32.63, Z:-11.02 [[ 9.78671654e-01 1.96887326e-01 5.86274199e-02 1.66612366e+02] [-1.96438659e-01 9.80424856e-01 -1.33773757e-02 -3.26291272e+01] [-6.01136154e-02 1.57536674e-03 9.98190298e-01 -1.10161162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-32.64, Z:-11.02 [[ 9.78535139e-01 1.97703470e-01 5.81577072e-02 1.66644090e+02] [-1.97262714e-01 9.80260687e-01 -1.32818579e-02 -3.26394200e+01] [-5.96355834e-02 1.52441755e-03 9.98219051e-01 -1.10197414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:-32.65, Z:-11.02 [[ 9.77927779e-01 2.00925153e-01 5.73266271e-02 1.66673572e+02] [-2.00501752e-01 9.79605706e-01 -1.31037459e-02 -3.26516960e+01] [-5.87903632e-02 1.32042800e-03 9.98269477e-01 -1.10222894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:-32.66, Z:-11.02 [[ 9.77439605e-01 2.03418211e-01 5.68581501e-02 1.66704515e+02] [-2.03005290e-01 9.79091242e-01 -1.30074154e-02 -3.26616030e+01] [-5.83152620e-02 1.17145773e-03 9.98297530e-01 -1.10246763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.74, Y:-32.67, Z:-11.03 [[ 9.76269345e-01 2.09075924e-01 5.64395531e-02 1.66735396e+02] [-2.08677892e-01 9.77899052e-01 -1.29221291e-02 -3.26736959e+01] [-5.78938916e-02 8.37791584e-04 9.98322391e-01 -1.10264254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.77, Y:-32.68, Z:-11.03 [[ 9.75517114e-01 2.12621862e-01 5.61987854e-02 1.66765633e+02] [-2.12232420e-01 9.77134351e-01 -1.28787018e-02 -3.26825398e+01] [-5.76520572e-02 6.36189864e-04 9.98336534e-01 -1.10285639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:-32.69, Z:-11.03 [[ 9.74744258e-01 2.16126655e-01 5.62396702e-02 1.66797292e+02] [-2.15741840e-01 9.76365237e-01 -1.28989469e-02 -3.26912600e+01] [-5.76982652e-02 4.39924424e-04 9.98333971e-01 -1.10317313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:-32.70, Z:-11.03 [[ 9.73233853e-01 2.22628958e-01 5.70281974e-02 1.66828497e+02] [-2.22243745e-01 9.74903248e-01 -1.30910271e-02 -3.27030883e+01] [-5.85114166e-02 6.64705824e-05 9.98286737e-01 -1.10342259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:-32.71, Z:-11.04 [[ 9.72555813e-01 2.25530480e-01 5.71943457e-02 1.66860588e+02] [-2.25147323e-01 9.74236108e-01 -1.31411421e-02 -3.27128127e+01] [-5.86845248e-02 -9.66597150e-05 9.98276574e-01 -1.10361921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.89, Y:-32.72, Z:-11.04 [[ 9.71447656e-01 2.30102497e-01 5.78125693e-02 1.66891533e+02] [-2.29718320e-01 9.73166331e-01 -1.32960674e-02 -3.27230116e+01] [-5.93207043e-02 -3.64172780e-04 9.98238910e-01 -1.10371246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:-32.73, Z:-11.04 [[ 9.70965348e-01 2.31966284e-01 5.84631121e-02 1.66922935e+02] [-2.31576350e-01 9.72723710e-01 -1.34528100e-02 -3.27315326e+01] [-5.99890537e-02 -4.76461718e-04 9.98198921e-01 -1.10412200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-32.74, Z:-11.04 [[ 9.70516460e-01 2.33637501e-01 5.92563826e-02 1.66954749e+02] [-2.33239254e-01 9.72323602e-01 -1.36478272e-02 -3.27408605e+01] [-6.08050236e-02 -5.75473569e-04 9.98149497e-01 -1.10431625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:-32.75, Z:-11.05 [[ 9.70144649e-01 2.35056751e-01 5.97300845e-02 1.66986029e+02] [-2.34654030e-01 9.71981425e-01 -1.37693474e-02 -3.27502992e+01] [-6.12931107e-02 -6.57646346e-04 9.98119593e-01 -1.10453836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:-32.76, Z:-11.05 [[ 9.69666225e-01 2.37289567e-01 5.86606623e-02 1.67016948e+02] [-2.36904515e-01 9.71438657e-01 -1.35346501e-02 -3.27608034e+01] [-6.01968663e-02 -7.72882730e-04 9.98186225e-01 -1.10484597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.05, Y:-32.77, Z:-11.05 [[ 9.69408920e-01 2.38491744e-01 5.80347705e-02 1.67048053e+02] [-2.38116309e-01 9.71144173e-01 -1.34022014e-02 -3.27696132e+01] [-5.95564436e-02 -8.26811721e-04 9.98224597e-01 -1.10500387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:-32.78, Z:-11.05 [[ 9.68908264e-01 2.40584991e-01 5.77549763e-02 1.67079639e+02] [-2.40216234e-01 9.70627621e-01 -1.33485182e-02 -3.27797549e+01] [-5.92700284e-02 -9.40193230e-04 9.98241544e-01 -1.10544422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:-32.79, Z:-11.06 [[ 9.68709463e-01 2.41520127e-01 5.71839582e-02 1.67110830e+02] [-2.41159559e-01 9.70395319e-01 -1.32284270e-02 -3.27882239e+01] [-5.86859767e-02 -9.75955738e-04 9.98276016e-01 -1.10567268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-32.80, Z:-11.06 [[ 9.68608119e-01 2.42030200e-01 5.67423393e-02 1.67141502e+02] [-2.41675424e-01 9.70268213e-01 -1.31371433e-02 -3.27960990e+01] [-5.82348736e-02 -9.88485265e-04 9.98302420e-01 -1.10589845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:-32.80, Z:-11.06 [[ 9.68531303e-01 2.42523736e-01 5.59406132e-02 1.67172873e+02] [-2.42179144e-01 9.70144964e-01 -1.29619439e-02 -3.28049927e+01] [-5.74140832e-02 -9.93601388e-04 9.98349957e-01 -1.10611412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-32.81, Z:-11.06 [[ 9.68511134e-01 2.42600603e-01 5.59565024e-02 1.67204843e+02] [-2.42255282e-01 9.70125751e-01 -1.29771179e-02 -3.28135197e+01] [-5.74331006e-02 -9.87275111e-04 9.98348869e-01 -1.10636005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:-32.82, Z:-11.07 [[ 9.68489966e-01 2.42575069e-01 5.64315605e-02 1.67235683e+02] [-2.42223121e-01 9.70132141e-01 -1.30991949e-02 -3.28218989e+01] [-5.79236087e-02 -9.82589923e-04 9.98320535e-01 -1.10656962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:-32.83, Z:-11.07 [[ 9.68545159e-01 2.42137563e-01 5.73557016e-02 1.67267338e+02] [-2.41772561e-01 9.70241453e-01 -1.33248645e-02 -3.28300465e+01] [-5.88753295e-02 -9.61301898e-04 9.98264880e-01 -1.10671742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.30, Y:-32.84, Z:-11.07 [[ 9.68616273e-01 2.41821367e-01 5.74886310e-02 1.67298395e+02] [-2.41453407e-01 9.70320337e-01 -1.33677092e-02 -3.28377568e+01] [-5.90149855e-02 -9.32645208e-04 9.98256661e-01 -1.10681260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.33, Y:-32.85, Z:-11.07 [[ 9.68732355e-01 2.41334201e-01 5.75797484e-02 1.67330375e+02] [-2.40963565e-01 9.70441655e-01 -1.33998335e-02 -3.28463835e+01] [-5.91116244e-02 -8.93769147e-04 9.98250979e-01 -1.10700932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:-32.86, Z:-11.07 [[ 9.69147343e-01 2.39749887e-01 5.72138110e-02 1.67360252e+02] [-2.39380464e-01 9.70834375e-01 -1.33270420e-02 -3.28566318e+01] [-5.87402912e-02 -7.80001307e-04 9.98272994e-01 -1.10741660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:-32.86, Z:-11.08 [[ 9.69127586e-01 2.39830140e-01 5.72121088e-02 1.67392773e+02] [-2.39460426e-01 9.70814555e-01 -1.33343451e-02 -3.28643537e+01] [-5.87403258e-02 -7.77354315e-04 9.98272994e-01 -1.10764443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:-32.87, Z:-11.08 [[ 9.69271024e-01 2.39276287e-01 5.71011521e-02 1.67424482e+02] [-2.38906819e-01 9.70951241e-01 -1.33123530e-02 -3.28721046e+01] [-5.86277649e-02 -7.38576611e-04 9.98279640e-01 -1.10791095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:-32.88, Z:-11.08 [[ 9.69381321e-01 2.38828459e-01 5.71036081e-02 1.67456935e+02] [-2.38457491e-01 9.71061521e-01 -1.33247062e-02 -3.28794300e+01] [-5.86334356e-02 -7.00061815e-04 9.98279335e-01 -1.10813681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:-32.89, Z:-11.08 [[ 9.69374212e-01 2.38870402e-01 5.70488142e-02 1.67488757e+02] [-2.38499533e-01 9.71051211e-01 -1.33236132e-02 -3.28872618e+01] [-5.85799370e-02 -6.90548526e-04 9.98282482e-01 -1.10834755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:-32.90, Z:-11.09 [[ 9.69340719e-01 2.38980429e-01 5.71570246e-02 1.67519452e+02] [-2.38607592e-01 9.71024142e-01 -1.33616353e-02 -3.28951136e+01] [-5.86940201e-02 -6.86122886e-04 9.98275784e-01 -1.10855481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45264000000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.55, Y:-32.90, Z:-11.09 [[ 9.69050384e-01 2.40049596e-01 5.75981355e-02 1.67551661e+02] [-2.39672450e-01 9.70760336e-01 -1.34717230e-02 -3.29040719e+01] [-5.91478670e-02 -7.49907966e-04 9.98248951e-01 -1.10861118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:-32.91, Z:-11.09 [[ 9.68877316e-01 2.40633587e-01 5.80708451e-02 1.67582515e+02] [-2.40250505e-01 9.70615716e-01 -1.35950740e-02 -3.29120529e+01] [-5.96359063e-02 -7.79591012e-04 9.98219891e-01 -1.10895333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:-32.92, Z:-11.09 [[ 9.68655826e-01 2.41446417e-01 5.83910817e-02 1.67613043e+02] [-2.41060143e-01 9.70413800e-01 -1.36771492e-02 -3.29202872e+01] [-5.99658101e-02 -8.27312259e-04 9.98200089e-01 -1.10915508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:-32.93, Z:-11.09 [[ 9.68556730e-01 2.41954591e-01 5.79295851e-02 1.67644804e+02] [-2.41574668e-01 9.70287209e-01 -1.35798390e-02 -3.29274411e+01] [-5.94940398e-02 -8.41475846e-04 9.98228306e-01 -1.10938019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:-32.93, Z:-11.10 [[ 9.68488986e-01 2.42348608e-01 5.74128627e-02 1.67675626e+02] [-2.41975433e-01 9.70188866e-01 -1.34704822e-02 -3.29341113e+01] [-5.89658727e-02 -8.46488730e-04 9.98259640e-01 -1.10963736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:-32.94, Z:-11.10 [[ 9.68466559e-01 2.42551098e-01 5.69340739e-02 1.67707429e+02] [-2.42183855e-01 9.70138267e-01 -1.33687500e-02 -3.29413899e+01] [-5.84765287e-02 -8.41326199e-04 9.98288429e-01 -1.10983705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-32.95, Z:-11.10 [[ 9.68537690e-01 2.42261410e-01 5.69574534e-02 1.67738599e+02] [-2.41892674e-01 9.70210672e-01 -1.33860305e-02 -3.29501795e+01] [-5.85036478e-02 -8.12715675e-04 9.98286864e-01 -1.11006008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.77, Y:-32.96, Z:-11.10 [[ 9.68623309e-01 2.41920450e-01 5.69506916e-02 1.67770852e+02] [-2.41550583e-01 9.70295772e-01 -1.33951827e-02 -3.29593954e+01] [-5.84995839e-02 -7.81586489e-04 9.98287127e-01 -1.11016879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-32.97, Z:-11.11 [[ 9.68812103e-01 2.41008913e-01 5.76004544e-02 1.67801091e+02] [-2.40628218e-01 9.70522633e-01 -1.35602186e-02 -3.29682792e+01] [-5.91706782e-02 -7.22990818e-04 9.98247619e-01 -1.11050716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.83, Y:-32.98, Z:-11.11 [[ 9.69027605e-01 2.40142395e-01 5.75945328e-02 1.67832911e+02] [-2.39759596e-01 9.70737449e-01 -1.35698455e-02 -3.29766552e+01] [-5.91678650e-02 -6.59287060e-04 9.98247829e-01 -1.11056740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:-32.98, Z:-11.11 [[ 9.69116342e-01 2.39633638e-01 5.82171393e-02 1.67863805e+02] [-2.39240843e-01 9.70863189e-01 -1.37290759e-02 -3.29849190e+01] [-5.98108259e-02 -6.22845691e-04 9.98209536e-01 -1.11084216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.90, Y:-32.99, Z:-11.11 [[ 9.69392633e-01 2.38412446e-01 5.86295954e-02 1.67896331e+02] [-2.38011416e-01 9.71163843e-01 -1.38331802e-02 -3.29930442e+01] [-6.02369455e-02 -5.44730067e-04 9.98183958e-01 -1.11092178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:-33.00, Z:-11.11 [[ 9.69416783e-01 2.38381930e-01 5.83537183e-02 1.67928619e+02] [-2.37983896e-01 9.71171342e-01 -1.37800277e-02 -3.30014140e+01] [-5.99563685e-02 -5.28655095e-04 9.98200859e-01 -1.11124892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:-33.01, Z:-11.11 [[ 9.69585803e-01 2.37795772e-01 5.79356661e-02 1.67958475e+02] [-2.37401617e-01 9.71315059e-01 -1.36941039e-02 -3.30117237e+01] [-5.95301849e-02 -4.76412047e-04 9.98226392e-01 -1.11149645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:-33.02, Z:-11.12 [[ 9.69578596e-01 2.37831761e-01 5.79085465e-02 1.67990119e+02] [-2.37437624e-01 9.71306250e-01 -1.36946499e-02 -3.30208014e+01] [-5.95039559e-02 -4.71628321e-04 9.98227958e-01 -1.11167738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-33.03, Z:-11.12 [[ 9.69592941e-01 2.37596583e-01 5.86292838e-02 1.68020947e+02] [-2.37191344e-01 9.71363815e-01 -1.38782181e-02 -3.30288150e+01] [-6.02477820e-02 -4.50136308e-04 9.98183351e-01 -1.11182716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-33.04, Z:-11.12 [[ 9.69605939e-01 2.37500998e-01 5.88013531e-02 1.68052531e+02] [-2.37092766e-01 9.71387196e-01 -1.39261200e-02 -3.30367312e+01] [-6.04263489e-02 -4.38526791e-04 9.98172562e-01 -1.11207759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:-33.05, Z:-11.12 [[ 9.69727289e-01 2.37116898e-01 5.83486269e-02 1.68083238e+02] [-2.36713517e-01 9.71481043e-01 -1.38309023e-02 -3.30455316e+01] [-5.99641256e-02 -3.99705295e-04 9.98200453e-01 -1.11228577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-33.06, Z:-11.13 [[ 9.69893473e-01 2.36525487e-01 5.79857347e-02 1.68114669e+02] [-2.36125405e-01 9.71625222e-01 -1.37557933e-02 -3.30551998e+01] [-5.95939980e-02 -3.50250982e-04 9.98222637e-01 -1.11250794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:-33.06, Z:-11.13 [[ 9.70153963e-01 2.35567215e-01 5.75271760e-02 1.68145047e+02] [-2.35171057e-01 9.71858019e-01 -1.36588450e-02 -3.30643062e+01] [-5.91258234e-02 -2.77544126e-04 9.98250500e-01 -1.11275142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:-33.07, Z:-11.13 [[ 9.70056125e-01 2.35998129e-01 5.74107715e-02 1.68176036e+02] [-2.35603677e-01 9.71753465e-01 -1.36422130e-02 -3.30729555e+01] [-5.90086529e-02 -2.92476499e-04 9.98257428e-01 -1.11302417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:-33.08, Z:-11.13 [[ 9.69849080e-01 2.37319443e-01 5.54278281e-02 1.68207065e+02] [-2.36953371e-01 9.71431603e-01 -1.31810668e-02 -3.30833304e+01] [-5.69724673e-02 -3.50165230e-04 9.98375688e-01 -1.11324614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:-33.09, Z:-11.13 [[ 9.69443318e-01 2.39064096e-01 5.50273719e-02 1.68238643e+02] [-2.38705495e-01 9.71003690e-01 -1.30966146e-02 -3.30922855e+01] [-5.65627115e-02 -4.38910549e-04 9.98398952e-01 -1.11346963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:-33.10, Z:-11.14 [[ 9.68996224e-01 2.40962231e-01 5.46216258e-02 1.68270197e+02] [-2.40611316e-01 9.70534346e-01 -1.30106820e-02 -3.30999618e+01] [-5.61472468e-02 -5.35279593e-04 9.98422356e-01 -1.11368938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.30, Y:-33.11, Z:-11.14 [[ 9.67958942e-01 2.45055612e-01 5.48017656e-02 1.68301226e+02] [-2.44708268e-01 9.69508723e-01 -1.30652137e-02 -3.31071241e+01] [-5.63324937e-02 -7.63854708e-04 9.98411772e-01 -1.11383006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:-33.11, Z:-11.14 [[ 9.67451726e-01 2.47006990e-01 5.49973191e-02 1.68333139e+02] [-2.46659713e-01 9.69013307e-01 -1.31223851e-02 -3.31146430e+01] [-5.65344549e-02 -8.70348778e-04 9.98400269e-01 -1.11411895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:-33.12, Z:-11.14 [[ 9.66974290e-01 2.48739910e-01 5.55803989e-02 1.68363756e+02] [-2.48387400e-01 9.68569830e-01 -1.32734212e-02 -3.31218721e+01] [-5.71351271e-02 -9.70413778e-04 9.98365983e-01 -1.11432897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:-33.13, Z:-11.15 [[ 9.66413049e-01 2.50781842e-01 5.61630290e-02 1.68396074e+02] [-2.50424706e-01 9.68043013e-01 -1.34235355e-02 -3.31292973e+01] [-5.77346068e-02 -1.09193017e-03 9.98331369e-01 -1.11450931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:-33.14, Z:-11.15 [[ 9.66383142e-01 2.51067851e-01 5.53945556e-02 1.68427889e+02] [-2.50720282e-01 9.67968884e-01 -1.32506582e-02 -3.31371838e+01] [-5.69470205e-02 -1.08332589e-03 9.98376614e-01 -1.11471731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:-33.15, Z:-11.15 [[ 9.66674275e-01 2.50122366e-01 5.45861536e-02 1.68458341e+02] [-2.49782732e-01 9.68213716e-01 -1.30685782e-02 -3.31458394e+01] [-5.61198063e-02 -1.00162021e-03 9.98423539e-01 -1.11496373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-33.15, Z:-11.15 [[ 9.66873546e-01 2.49398998e-01 5.43662124e-02 1.68490209e+02] [-2.49060377e-01 9.68400354e-01 -1.30262545e-02 -3.31539624e+01] [-5.58969942e-02 -9.45728459e-04 9.98436093e-01 -1.11520439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-33.16, Z:-11.15 [[ 9.67109005e-01 2.48491859e-01 5.43320274e-02 1.68521209e+02] [-2.48151584e-01 9.68633584e-01 -1.30296637e-02 -3.31611937e+01] [-5.58655917e-02 -8.81473547e-04 9.98437909e-01 -1.11538920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:-33.17, Z:-11.16 [[ 9.67324284e-01 2.47547968e-01 5.48063273e-02 1.68552733e+02] [-2.47199593e-01 9.68875289e-01 -1.31543141e-02 -3.31680136e+01] [-5.63568199e-02 -8.23614356e-04 9.98410352e-01 -1.11563675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:-33.18, Z:-11.16 [[ 9.67924267e-01 2.44898683e-01 5.61003374e-02 1.68584911e+02] [-2.44528567e-01 9.69548441e-01 -1.34758880e-02 -3.31765761e+01] [-5.76922219e-02 -6.74496144e-04 9.98334189e-01 -1.11584157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-33.19, Z:-11.16 [[ 9.68314110e-01 2.43410326e-01 5.58497846e-02 1.68617140e+02] [-2.43040376e-01 9.69923237e-01 -1.34271902e-02 -3.31854362e+01] [-5.74383206e-02 -5.72014890e-04 9.98348893e-01 -1.11603711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-33.19, Z:-11.16 [[ 9.69055401e-01 2.40285808e-01 5.65186765e-02 1.68647628e+02] [-2.39900926e-01 9.70702110e-01 -1.35999860e-02 -3.31931777e+01] [-5.81306821e-02 -3.79742886e-04 9.98308910e-01 -1.11622724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:-33.20, Z:-11.16 [[ 9.69429520e-01 2.38766627e-01 5.65411715e-02 1.68679212e+02] [-2.38378228e-01 9.71076938e-01 -1.36161646e-02 -3.32007744e+01] [-5.81569134e-02 -2.78272381e-04 9.98307416e-01 -1.11645391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:-33.21, Z:-11.17 [[ 9.69984660e-01 2.36667932e-01 5.58395018e-02 1.68709819e+02] [-2.36284974e-01 9.71590588e-01 -1.34588518e-02 -3.32094212e+01] [-5.74384130e-02 -1.39155474e-04 9.98349042e-01 -1.11663768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:-33.22, Z:-11.17 [[ 9.70142467e-01 2.36083063e-01 5.55732102e-02 1.68741209e+02] [-2.35702171e-01 9.71732874e-01 -1.34055241e-02 -3.32171720e+01] [-5.71671325e-02 -9.34580854e-05 9.98364618e-01 -1.11684277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.77, Y:-33.23, Z:-11.17 [[ 9.70223637e-01 2.35801074e-01 5.53529434e-02 1.68772714e+02] [-2.35422136e-01 9.71801342e-01 -1.33629601e-02 -3.32251554e+01] [-5.69430650e-02 -6.62483963e-05 9.98377425e-01 -1.11704622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-33.24, Z:-11.17 [[ 9.70547174e-01 2.34652430e-01 5.45565834e-02 1.68803016e+02] [-2.34281872e-01 9.72079337e-01 -1.31820914e-02 -3.32360560e+01] [-5.61265372e-02 1.22231024e-05 9.98423663e-01 -1.11735522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-33.25, Z:-11.18 [[ 9.70681217e-01 2.34085930e-01 5.46054275e-02 1.68834497e+02] [-2.33713217e-01 9.72215909e-01 -1.32044561e-02 -3.32454646e+01] [-5.61792427e-02 5.53074108e-05 9.98420698e-01 -1.11753193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:-33.25, Z:-11.18 [[ 9.70785583e-01 2.33602357e-01 5.48205212e-02 1.68866286e+02] [-2.33225274e-01 9.72332212e-01 -1.32680860e-02 -3.32545653e+01] [-5.64032148e-02 9.49355236e-05 9.98408067e-01 -1.11775888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:-33.27, Z:-11.18 [[ 9.71159940e-01 2.31737085e-01 5.60918409e-02 1.68896048e+02] [-2.31338477e-01 9.72778431e-01 -1.35880167e-02 -3.32663878e+01] [-5.77137803e-02 2.19936398e-04 9.98333146e-01 -1.11792535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:-33.28, Z:-11.18 [[ 9.71369486e-01 2.30661120e-01 5.68926102e-02 1.68927550e+02] [-2.30248536e-01 9.73034099e-01 -1.37932272e-02 -3.32775476e+01] [-5.85400110e-02 2.98879822e-04 9.98285018e-01 -1.11808464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.96, Y:-33.29, Z:-11.18 [[ 9.71588680e-01 2.29638980e-01 5.72832999e-02 1.68957904e+02] [-2.29218216e-01 9.73275808e-01 -1.39000477e-02 -3.32898383e+01] [-5.89444428e-02 3.74753244e-04 9.98261194e-01 -1.11822831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-33.30, Z:-11.18 [[ 9.71509237e-01 2.30172408e-01 5.64841988e-02 1.68989286e+02] [-2.29763596e-01 9.73149804e-01 -1.37167283e-02 -3.32997068e+01] [-5.81247994e-02 3.47915583e-04 9.98309264e-01 -1.11844878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:-33.31, Z:-11.19 [[ 9.71212538e-01 2.31394465e-01 5.65933625e-02 1.69019504e+02] [-2.30985400e-01 9.72859969e-01 -1.37559393e-02 -3.33101265e+01] [-5.82404651e-02 2.87700180e-04 9.98302542e-01 -1.11870703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:-33.32, Z:-11.19 [[ 9.70870084e-01 2.32910641e-01 5.62486733e-02 1.69050806e+02] [-2.32508707e-01 9.72498120e-01 -1.36787579e-02 -3.33217028e+01] [-5.78876573e-02 2.01990572e-04 9.98323083e-01 -1.11888767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.08, Y:-33.34, Z:-11.19 [[ 9.69639826e-01 2.37837008e-01 5.68521348e-02 1.69081776e+02] [-2.37434163e-01 9.71305076e-01 -1.38371557e-02 -3.33351116e+01] [-5.85117548e-02 -8.15817957e-05 9.98286716e-01 -1.11903502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:-33.34, Z:-11.19 [[ 9.68773916e-01 2.41417927e-01 5.65197766e-02 1.69113615e+02] [-2.41025213e-01 9.70421199e-01 -1.37674810e-02 -3.33446227e+01] [-5.81717061e-02 -2.85114639e-04 9.98306552e-01 -1.11926258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:-33.35, Z:-11.20 [[ 9.66739086e-01 2.49584304e-01 5.58857351e-02 1.69144461e+02] [-2.49213277e-01 9.68352779e-01 -1.36249208e-02 -3.33547728e+01] [-5.75176733e-02 -7.55723686e-04 9.98344202e-01 -1.11952904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:-33.36, Z:-11.20 [[ 9.65581991e-01 2.54067706e-01 5.56867982e-02 1.69175988e+02] [-2.53706130e-01 9.67185910e-01 -1.35873486e-02 -3.33638464e+01] [-5.73115930e-02 -1.00838292e-03 9.98355831e-01 -1.11974795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:-33.37, Z:-11.20 [[ 9.64407999e-01 2.58566634e-01 5.53218496e-02 1.69207350e+02] [-2.58216531e-01 9.65992607e-01 -1.35094653e-02 -3.33718811e+01] [-5.69335947e-02 -1.25637973e-03 9.98377177e-01 -1.11995121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:-33.38, Z:-11.20 [[ 9.62023360e-01 2.67310535e-01 5.52822989e-02 1.69239707e+02] [-2.66974734e-01 9.63608828e-01 -1.35099387e-02 -3.33784556e+01] [-5.68818602e-02 -1.76210042e-03 9.98379361e-01 -1.12016796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-33.39, Z:-11.20 [[ 9.60873253e-01 2.71346568e-01 5.56204203e-02 1.69270418e+02] [-2.71012719e-01 9.62479627e-01 -1.36041868e-02 -3.33856874e+01] [-5.72249708e-02 -2.00194210e-03 9.98359302e-01 -1.12038995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-33.39, Z:-11.21 [[ 9.59097128e-01 2.77487444e-01 5.59769412e-02 1.69302224e+02] [-2.77159107e-01 9.60726333e-01 -1.37019152e-02 -3.33924792e+01] [-5.75806309e-02 -2.37305151e-03 9.98338039e-01 -1.12058435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:-33.40, Z:-11.21 [[ 9.58409249e-01 2.79792774e-01 5.62824626e-02 1.69333479e+02] [-2.79464116e-01 9.60057126e-01 -1.37885250e-02 -3.33990039e+01] [-5.78923089e-02 -2.51387879e-03 9.98319669e-01 -1.12085225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-33.41, Z:-11.21 [[ 9.58387417e-01 2.79868096e-01 5.62797338e-02 1.69365907e+02] [-2.79538916e-01 9.60035189e-01 -1.37996535e-02 -3.34070918e+01] [-5.78926076e-02 -2.50696151e-03 9.98319669e-01 -1.12108014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:-33.41, Z:-11.21 [[ 9.57927008e-01 2.81421423e-01 5.63722444e-02 1.69398565e+02] [-2.81093630e-01 9.59580749e-01 -1.38259433e-02 -3.34136175e+01] [-5.79846372e-02 -2.60163436e-03 9.98314086e-01 -1.12134102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:-33.42, Z:-11.22 [[ 9.57542992e-01 2.82706077e-01 5.64685045e-02 1.69430875e+02] [-2.82378760e-01 9.59202860e-01 -1.38603746e-02 -3.34180673e+01] [-5.80831632e-02 -2.67360167e-03 9.98308168e-01 -1.12155022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:-33.42, Z:-11.22 [[ 9.57492049e-01 2.82857491e-01 5.65739858e-02 1.69462714e+02] [-2.82528539e-01 9.59158212e-01 -1.38978179e-02 -3.34240749e+01] [-5.81945050e-02 -2.67671544e-03 9.98301675e-01 -1.12176718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-33.43, Z:-11.22 [[ 9.57815579e-01 2.81949320e-01 5.56228170e-02 1.69495221e+02] [-2.81629227e-01 9.59425864e-01 -1.36744166e-02 -3.34273570e+01] [-5.72214617e-02 -2.56744166e-03 9.98358209e-01 -1.12201559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-33.43, Z:-11.22 [[ 9.58152309e-01 2.80972368e-01 5.47602213e-02 1.69526568e+02] [-2.80659928e-01 9.59712706e-01 -1.34731843e-02 -3.34326053e+01] [-5.63396727e-02 -2.45963713e-03 9.98408630e-01 -1.12226163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:-33.44, Z:-11.23 [[ 9.58614031e-01 2.79465834e-01 5.43873861e-02 1.69559203e+02] [-2.79154895e-01 9.60152763e-01 -1.33871858e-02 -3.34386795e+01] [-5.59614601e-02 -2.34936090e-03 9.98430166e-01 -1.12251161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:-33.44, Z:-11.23 [[ 9.60115764e-01 2.74229605e-01 5.45512965e-02 1.69590706e+02] [-2.73907711e-01 9.61662085e-01 -1.34387723e-02 -3.34427298e+01] [-5.61452228e-02 -2.03924367e-03 9.98420530e-01 -1.12271844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-33.45, Z:-11.23 [[ 9.61171127e-01 2.70511527e-01 5.45305287e-02 1.69623251e+02] [-2.70183328e-01 9.62715032e-01 -1.34438331e-02 -3.34488369e+01] [-5.61340715e-02 -1.81141545e-03 9.98421597e-01 -1.12288492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:-33.46, Z:-11.23 [[ 9.62336364e-01 2.66236618e-01 5.50162291e-02 1.69655394e+02] [-2.65894912e-01 9.63906435e-01 -1.35750187e-02 -3.34551410e+01] [-5.66446643e-02 -1.56480129e-03 9.98393176e-01 -1.12310853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-33.46, Z:-11.23 [[ 9.64916951e-01 2.56567851e-01 5.57513743e-02 1.69686778e+02] [-2.56200115e-01 9.66525706e-01 -1.37680914e-02 -3.34610846e+01] [-5.74175861e-02 -9.98443734e-04 9.98349750e-01 -1.12331297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.72, Y:-33.47, Z:-11.23 [[ 9.66230525e-01 2.51603260e-01 5.56270720e-02 1.69718569e+02] [-2.51228283e-01 9.67830214e-01 -1.37487197e-02 -3.34686999e+01] [-5.72967837e-02 -6.90661077e-04 9.98356951e-01 -1.12347519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:-33.48, Z:-11.24 [[ 9.68711443e-01 2.42025479e-01 5.49709764e-02 1.69749092e+02] [-2.41643211e-01 9.70269888e-01 -1.35979152e-02 -3.34773500e+01] [-5.66277251e-02 -1.10907261e-04 9.98395357e-01 -1.12380961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:-33.49, Z:-11.24 [[ 9.69721349e-01 2.37950985e-01 5.49530225e-02 1.69780243e+02] [-2.37561770e-01 9.71277154e-01 -1.36049962e-02 -3.34868073e+01] [-5.66119375e-02 1.38317987e-04 9.98396249e-01 -1.12402733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:169.81, Y:-33.50, Z:-11.24 [[ 9.70534685e-01 2.34523740e-01 5.53266725e-02 1.69812287e+02] [-2.34122982e-01 9.72110329e-01 -1.37090337e-02 -3.34965436e+01] [-5.69987237e-02 3.51847198e-04 9.98374189e-01 -1.12415219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-33.51, Z:-11.24 [[ 9.71642096e-01 2.29894062e-01 5.53204914e-02 1.69842448e+02] [-2.29485211e-01 9.73215453e-01 -1.37193579e-02 -3.35068245e+01] [-5.69927559e-02 6.35070983e-04 9.98374390e-01 -1.12439765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:169.87, Y:-33.52, Z:-11.25 [[ 9.71855978e-01 2.29024848e-01 5.51686166e-02 1.69874588e+02] [-2.28616235e-01 9.73420329e-01 -1.36923487e-02 -3.35157592e+01] [-5.68381410e-02 6.94549463e-04 9.98383165e-01 -1.12451527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264000000003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:169.90, Y:-33.53, Z:-11.25 [[ 9.71943393e-01 2.28688105e-01 5.50253670e-02 1.69904831e+02] [-2.28280392e-01 9.73499474e-01 -1.36688114e-02 -3.35255586e+01] [-5.66930604e-02 7.24098592e-04 9.98391392e-01 -1.12481397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-33.54, Z:-11.25 [[ 9.71897739e-01 2.29046181e-01 5.43381282e-02 1.69935925e+02] [-2.28648548e-01 9.73415302e-01 -1.35089328e-02 -3.35352067e+01] [-5.59877349e-02 7.04967151e-04 9.98431208e-01 -1.12503868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:-33.54, Z:-11.25 [[ 9.71710550e-01 2.29915350e-01 5.40142517e-02 1.69967475e+02] [-2.29523197e-01 9.73210406e-01 -1.34390416e-02 -3.35449352e+01] [-5.56570738e-02 6.61334837e-04 9.98449725e-01 -1.12522671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:-33.56, Z:-11.25 [[ 9.71095919e-01 2.32678002e-01 5.32321624e-02 1.69997486e+02] [-2.32300659e-01 9.72553695e-01 -1.32556946e-02 -3.35561182e+01] [-5.48554448e-02 5.06684565e-04 9.98494178e-01 -1.12541466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:-33.57, Z:-11.26 [[ 9.70670928e-01 2.34449263e-01 5.32117696e-02 1.70028341e+02] [-2.34074290e-01 9.72128268e-01 -1.32611194e-02 -3.35664531e+01] [-5.48377251e-02 4.16675919e-04 9.98495193e-01 -1.12567922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:-33.58, Z:-11.26 [[ 9.70178654e-01 2.36496296e-01 5.31307977e-02 1.70059394e+02] [-2.36124961e-01 9.71632341e-01 -1.32512992e-02 -3.35770856e+01] [-5.47574845e-02 3.10620113e-04 9.98499635e-01 -1.12587668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:-33.59, Z:-11.26 [[ 9.69219432e-01 2.40343175e-01 5.33746340e-02 1.70090321e+02] [-2.39973620e-01 9.70687976e-01 -1.33234532e-02 -3.35891530e+01] [-5.50123165e-02 1.04845553e-04 9.98485670e-01 -1.12608771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:-33.60, Z:-11.26 [[ 9.68716647e-01 2.42373153e-01 5.33227201e-02 1.70121795e+02] [-2.42006771e-01 9.70183104e-01 -1.33217170e-02 -3.35996820e+01] [-5.49616287e-02 5.09693904e-07 9.98488467e-01 -1.12631982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:-33.61, Z:-11.27 [[ 9.67878887e-01 2.45580600e-01 5.38574894e-02 1.70152614e+02] [-2.45211150e-01 9.69376160e-01 -1.34667161e-02 -3.36111469e+01] [-5.55153305e-02 -1.72306686e-04 9.98457820e-01 -1.12654546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:-33.62, Z:-11.27 [[ 9.67472479e-01 2.47102056e-01 5.41994051e-02 1.70183208e+02] [-2.46729633e-01 9.68989428e-01 -1.35638001e-02 -3.36205987e+01] [-5.58702935e-02 -2.49995984e-04 9.98438004e-01 -1.12680476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-33.63, Z:-11.27 [[ 9.66876017e-01 2.49588702e-01 5.34438759e-02 1.70214522e+02] [-2.49229837e-01 9.68351866e-01 -1.33847487e-02 -3.36327662e+01] [-5.50931590e-02 -3.78415977e-04 9.98481147e-01 -1.12707624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:-33.64, Z:-11.27 [[ 9.66537945e-01 2.50906946e-01 5.33863862e-02 1.70244995e+02] [-2.50550242e-01 9.68011110e-01 -1.33816009e-02 -3.36425997e+01] [-5.50361516e-02 -4.42147001e-04 9.98484265e-01 -1.12732777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-33.65, Z:-11.28 [[ 9.66177143e-01 2.52307213e-01 5.33179022e-02 1.70276566e+02] [-2.51952990e-01 9.67647048e-01 -1.33746776e-02 -3.36524327e+01] [-5.49674382e-02 -5.11297044e-04 9.98488017e-01 -1.12757573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:170.31, Y:-33.66, Z:-11.28 [[ 9.65797628e-01 2.53736988e-01 5.34086299e-02 1.70308534e+02] [-2.53383144e-01 9.67273075e-01 -1.34082651e-02 -3.36621354e+01] [-5.50629025e-02 -5.83175895e-04 9.98482717e-01 -1.12781961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:-33.67, Z:-11.28 [[ 9.65190968e-01 2.56140485e-01 5.29003499e-02 1.70338781e+02] [-2.55796315e-01 9.66639312e-01 -1.32923378e-02 -3.36734010e+01] [-5.45402637e-02 -7.02070184e-04 9.98511325e-01 -1.12806069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:-33.68, Z:-11.28 [[ 9.64811640e-01 2.57497698e-01 5.32300113e-02 1.70370506e+02] [-2.57150962e-01 9.66278599e-01 -1.33810572e-02 -3.36831852e+01] [-5.48806121e-02 -7.77948844e-04 9.98492621e-01 -1.12828648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:-33.69, Z:-11.28 [[ 9.64032637e-01 2.60163772e-01 5.43680677e-02 1.70401962e+02] [-2.59805644e-01 9.65564048e-01 -1.36783389e-02 -3.36940198e+01] [-5.60544598e-02 -9.38765708e-04 9.98427271e-01 -1.12845851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:-33.70, Z:-11.29 [[ 9.63624211e-01 2.61545004e-01 5.49780929e-02 1.70433619e+02] [-2.61180392e-01 9.65190744e-01 -1.38431044e-02 -3.37029222e+01] [-5.66849412e-02 -1.01964929e-03 9.98391595e-01 -1.12866574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:-33.71, Z:-11.29 [[ 9.63343883e-01 2.62510768e-01 5.52870715e-02 1.70465109e+02] [-2.62142992e-01 9.64928468e-01 -1.39320949e-02 -3.37112012e+01] [-5.70053942e-02 -1.07171995e-03 9.98373295e-01 -1.12888239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:-33.72, Z:-11.29 [[ 9.62997119e-01 2.63846378e-01 5.49694298e-02 1.70497104e+02] [-2.63484365e-01 9.64564049e-01 -1.38630889e-02 -3.37195583e+01] [-5.66792615e-02 -1.13347067e-03 9.98391795e-01 -1.12918067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:-33.73, Z:-11.29 [[ 9.62957804e-01 2.64143906e-01 5.42242108e-02 1.70527906e+02] [-2.63791508e-01 9.64482624e-01 -1.36860705e-02 -3.37276813e+01] [-5.59134012e-02 -1.12477792e-03 9.98434989e-01 -1.12945622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:-33.74, Z:-11.30 [[ 9.62976174e-01 2.64206814e-01 5.35877487e-02 1.70559624e+02] [-2.63862200e-01 9.64465415e-01 -1.35352411e-02 -3.37361940e+01] [-5.52596332e-02 -1.10566658e-03 9.98471407e-01 -1.12974382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:-33.74, Z:-11.30 [[ 9.63166371e-01 2.63603684e-01 5.31379253e-02 1.70591964e+02] [-2.63263338e-01 9.64630495e-01 -1.34321765e-02 -3.37443976e+01] [-5.47992344e-02 -1.05184689e-03 9.98496839e-01 -1.13004387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:170.62, Y:-33.75, Z:-11.30 [[ 9.63254360e-01 2.63236343e-01 5.33635314e-02 1.70623297e+02] [-2.62891924e-01 9.64730832e-01 -1.35003163e-02 -3.37521438e+01] [-5.50352179e-02 -1.02460289e-03 9.98483888e-01 -1.13016335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:-33.76, Z:-11.30 [[ 9.63544337e-01 2.62034288e-01 5.40401985e-02 1.70655402e+02] [-2.61678608e-01 9.65058088e-01 -1.36818160e-02 -3.37610043e+01] [-5.57370356e-02 -9.58127567e-04 9.98445023e-01 -1.13049410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:-33.77, Z:-11.31 [[ 9.63714127e-01 2.61382790e-01 5.41675119e-02 1.70686929e+02] [-2.61023796e-01 9.65234793e-01 -1.37248921e-02 -3.37689457e+01] [-5.58718177e-02 -9.12137151e-04 9.98437533e-01 -1.13070810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.72, Y:-33.78, Z:-11.31 [[ 9.63866910e-01 2.60701136e-01 5.47311312e-02 1.70719151e+02] [-2.60332902e-01 9.65419162e-01 -1.38787943e-02 -3.37763757e+01] [-5.64567003e-02 -8.71003585e-04 9.98404669e-01 -1.13089297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-33.78, Z:-11.31 [[ 9.64123434e-01 2.59498026e-01 5.59176097e-02 1.70749784e+02] [-2.59110930e-01 9.65743301e-01 -1.41916192e-02 -3.37836288e+01] [-5.76847541e-02 -8.06391182e-04 9.98334523e-01 -1.13114464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:170.78, Y:-33.79, Z:-11.31 [[ 9.64285898e-01 2.58827682e-01 5.62222175e-02 1.70780535e+02] [-2.58434582e-01 9.65923213e-01 -1.42798167e-02 -3.37914174e+01] [-5.80023568e-02 -7.59939444e-04 9.98316157e-01 -1.13124303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:-33.80, Z:-11.32 [[ 9.64421976e-01 2.58215759e-01 5.66998556e-02 1.70811755e+02] [-2.57814265e-01 9.66087007e-01 -1.44117869e-02 -3.38006637e+01] [-5.84983443e-02 -7.18987569e-04 9.98287247e-01 -1.13157935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:-33.81, Z:-11.32 [[ 9.64438101e-01 2.58192914e-01 5.65293562e-02 1.70842321e+02] [-2.57793075e-01 9.66093124e-01 -1.43807705e-02 -3.38085636e+01] [-5.83256354e-02 -7.03513514e-04 9.98297363e-01 -1.13181216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-33.82, Z:-11.32 [[ 9.64341326e-01 2.58593196e-01 5.63503847e-02 1.70874128e+02] [-2.58196191e-01 9.65986046e-01 -1.43417326e-02 -3.38167013e+01] [-5.81423597e-02 -7.19129253e-04 9.98308043e-01 -1.13205749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:170.91, Y:-33.82, Z:-11.32 [[ 9.64194274e-01 2.59225348e-01 5.59608790e-02 1.70905565e+02] [-2.58834209e-01 9.65816582e-01 -1.42541927e-02 -3.38239779e+01] [-5.77429929e-02 -7.40778842e-04 9.98331207e-01 -1.13215683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:170.94, Y:-33.83, Z:-11.32 [[ 9.64016620e-01 2.59854045e-01 5.61055308e-02 1.70937538e+02] [-2.59461325e-01 9.65647597e-01 -1.43017150e-02 -3.38317087e+01] [-5.78945295e-02 -7.70124337e-04 9.98322408e-01 -1.13237854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.97, Y:-33.84, Z:-11.33 [[ 9.63579832e-01 2.61286778e-01 5.69484569e-02 1.70968391e+02] [-2.60883954e-01 9.65260838e-01 -1.45285302e-02 -3.38393809e+01] [-5.87662281e-02 -8.57539942e-04 9.98271404e-01 -1.13262599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-33.85, Z:-11.33 [[ 9.63266491e-01 2.62230051e-01 5.79056783e-02 1.70999805e+02] [-2.61814600e-01 9.65004950e-01 -1.47837982e-02 -3.38478858e+01] [-5.97560223e-02 -9.19814579e-04 9.98212588e-01 -1.13299562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:-33.86, Z:-11.33 [[ 9.62914044e-01 2.63412523e-01 5.83985189e-02 1.71031016e+02] [-2.62991370e-01 9.64682779e-01 -1.49223227e-02 -3.38557669e+01] [-6.02667722e-02 -9.89392395e-04 9.98181816e-01 -1.13318451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:-33.86, Z:-11.33 [[ 9.62340527e-01 2.65348939e-01 5.90817278e-02 1.71063538e+02] [-2.64921070e-01 9.64151800e-01 -1.51040728e-02 -3.38634371e+01] [-6.09716039e-02 -1.11673322e-03 9.98138876e-01 -1.13341888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-33.87, Z:-11.34 [[ 9.62051533e-01 2.66411092e-01 5.90082906e-02 1.71094406e+02] [-2.65985539e-01 9.63858786e-01 -1.50974662e-02 -3.38712550e+01] [-6.08977918e-02 -1.17081147e-03 9.98143320e-01 -1.13364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:-33.88, Z:-11.34 [[ 9.61492132e-01 2.68436797e-01 5.89454430e-02 1.71125535e+02] [-2.68015263e-01 9.63296439e-01 -1.50926686e-02 -3.38775866e+01] [-6.08333630e-02 -1.28679634e-03 9.98147106e-01 -1.13396551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-33.88, Z:-11.34 [[ 9.61122742e-01 2.69763905e-01 5.89110367e-02 1.71157729e+02] [-2.69344687e-01 9.62925536e-01 -1.50947765e-02 -3.38845486e+01] [-6.07989674e-02 -1.35944174e-03 9.98149106e-01 -1.13422049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-33.89, Z:-11.34 [[ 9.60717063e-01 2.71292723e-01 5.85062655e-02 1.71190068e+02] [-2.70881390e-01 9.62495818e-01 -1.50024571e-02 -3.38914134e+01] [-6.03820932e-02 -1.43514203e-03 9.98174305e-01 -1.13448398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-33.90, Z:-11.35 [[ 9.59768921e-01 2.74752698e-01 5.79186729e-02 1.71222804e+02] [-2.74355207e-01 9.61513553e-01 -1.48629406e-02 -3.38976631e+01] [-5.97732220e-02 -1.62530105e-03 9.98210659e-01 -1.13473719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-33.91, Z:-11.35 [[ 9.59251598e-01 2.76622603e-01 5.75873956e-02 1.71255367e+02] [-2.76232317e-01 9.60977094e-01 -1.47895833e-02 -3.39051354e+01] [-5.94313011e-02 -1.72056827e-03 9.98230915e-01 -1.13497210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:171.29, Y:-33.91, Z:-11.35 [[ 9.58816718e-01 2.78320564e-01 5.66406629e-02 1.71286652e+02] [-2.77945301e-01 9.60486584e-01 -1.45578472e-02 -3.39122265e+01] [-5.84543451e-02 -1.78469882e-03 9.98288488e-01 -1.13497549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:-33.92, Z:-11.35 [[ 9.58036386e-01 2.80844629e-01 5.73809772e-02 1.71317860e+02] [-2.80463349e-01 9.59751258e-01 -1.47591185e-02 -3.39170318e+01] [-5.92164842e-02 -1.95348849e-03 9.98243253e-01 -1.13542767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:-33.92, Z:-11.36 [[ 9.57668620e-01 2.82008282e-01 5.78112782e-02 1.71349806e+02] [-2.81622721e-01 9.59409822e-01 -1.48807299e-02 -3.39225102e+01] [-5.96611972e-02 -2.03016136e-03 9.98216620e-01 -1.13566402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.38, Y:-33.93, Z:-11.36 [[ 9.57646534e-01 2.82083845e-01 5.78084816e-02 1.71382137e+02] [-2.81697767e-01 9.59387622e-01 -1.48915857e-02 -3.39309769e+01] [-5.96614175e-02 -2.02364472e-03 9.98216620e-01 -1.13589191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-33.93, Z:-11.36 [[ 9.57147405e-01 2.83520509e-01 5.90335994e-02 1.71415311e+02] [-2.83120347e-01 9.58963754e-01 -1.52114429e-02 -3.39339557e+01] [-6.09238381e-02 -2.15402006e-03 9.98140093e-01 -1.13610709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:-33.94, Z:-11.36 [[ 9.56945105e-01 2.84109183e-01 5.94814146e-02 1.71446927e+02] [-2.83703320e-01 9.58789417e-01 -1.53388237e-02 -3.39402409e+01] [-6.13880515e-02 -2.19666256e-03 9.98111558e-01 -1.13632475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:-33.95, Z:-11.37 [[ 9.56838676e-01 2.84293472e-01 6.03072905e-02 1.71478977e+02] [-2.83875915e-01 9.58734716e-01 -1.55630702e-02 -3.39467300e+01] [-6.22431723e-02 -2.22843977e-03 9.98058526e-01 -1.13653933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:-33.95, Z:-11.37 [[ 9.56720103e-01 2.84528484e-01 6.10752491e-02 1.71512233e+02] [-2.84099922e-01 9.58664921e-01 -1.57734896e-02 -3.39503623e+01] [-6.30387060e-02 -2.26065885e-03 9.98008523e-01 -1.13672647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:-33.96, Z:-11.37 [[ 9.56753610e-01 2.84434450e-01 6.09883106e-02 1.71543750e+02] [-2.84006149e-01 9.58692875e-01 -1.57632192e-02 -3.39562265e+01] [-6.29526614e-02 -2.23953833e-03 9.98014001e-01 -1.13694582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-33.96, Z:-11.37 [[ 9.56899748e-01 2.83966604e-01 6.08756048e-02 1.71576240e+02] [-2.83538235e-01 9.58831661e-01 -1.57452999e-02 -3.39619735e+01] [-6.28405966e-02 -2.19388803e-03 9.98021165e-01 -1.13722442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:-33.96, Z:-11.37 [[ 9.57337469e-01 2.82717507e-01 5.97978386e-02 1.71609790e+02] [-2.82301024e-01 9.59200998e-01 -1.54782720e-02 -3.39643850e+01] [-6.17341249e-02 -2.06306133e-03 9.98090498e-01 -1.13745450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:-33.97, Z:-11.38 [[ 9.57622033e-01 2.81843257e-01 5.93668318e-02 1.71641757e+02] [-2.81430304e-01 9.59458419e-01 -1.53793855e-02 -3.39695407e+01] [-6.12945827e-02 -1.97998712e-03 9.98117755e-01 -1.13776554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:-33.97, Z:-11.38 [[ 9.58449019e-01 2.79187583e-01 5.85642567e-02 1.71674919e+02] [-2.78780359e-01 9.60234934e-01 -1.51783477e-02 -3.39732172e+01] [-6.04730513e-02 -1.77889205e-03 9.98168245e-01 -1.13808440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-33.98, Z:-11.38 [[ 9.58966116e-01 2.77513442e-01 5.80540881e-02 1.71706015e+02] [-2.77109470e-01 9.60720343e-01 -1.50586669e-02 -3.39795942e+01] [-5.99527259e-02 -1.64658626e-03 9.98199859e-01 -1.13835661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.74, Y:-33.99, Z:-11.38 [[ 9.59519864e-01 2.75796401e-01 5.70786816e-02 1.71738377e+02] [-2.75402474e-01 9.61214895e-01 -1.48122641e-02 -3.39860513e+01] [-5.89500481e-02 -1.50694849e-03 9.98259796e-01 -1.13844420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.77, Y:-33.99, Z:-11.39 [[ 9.60783850e-01 2.71548922e-01 5.61745217e-02 1.71770821e+02] [-2.71159473e-01 9.62423870e-01 -1.45888591e-02 -3.39908270e+01] [-5.80252896e-02 -1.21551348e-03 9.98314373e-01 -1.13874518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:-34.00, Z:-11.39 [[ 9.61339391e-01 2.69555923e-01 5.62688229e-02 1.71801845e+02] [-2.69161062e-01 9.62984125e-01 -1.46252094e-02 -3.39972099e+01] [-5.81282950e-02 -1.08558620e-03 9.98308531e-01 -1.13914685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:-34.00, Z:-11.39 [[ 9.62439182e-01 2.65674249e-01 5.59286511e-02 1.71832932e+02] [-2.65276970e-01 9.64062496e-01 -1.45476221e-02 -3.40024886e+01] [-5.77836435e-02 -8.35381632e-04 9.98328780e-01 -1.13945840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:-34.01, Z:-11.40 [[ 9.62909478e-01 2.63969870e-01 5.59038853e-02 1.71864500e+02] [-2.63569477e-01 9.64530655e-01 -1.45514747e-02 -3.40101411e+01] [-5.77621621e-02 -7.22804916e-04 9.98330111e-01 -1.13969624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59264000000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:171.90, Y:-34.02, Z:-11.40 [[ 9.63225801e-01 2.62867308e-01 5.56492104e-02 1.71895787e+02] [-2.62468040e-01 9.64831781e-01 -1.44969771e-02 -3.40177469e+01] [-5.75029082e-02 -6.42276792e-04 9.98345132e-01 -1.13963247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:171.93, Y:-34.02, Z:-11.40 [[ 9.63731247e-01 2.60943099e-01 5.59533941e-02 1.71928546e+02] [-2.60535572e-01 9.65354043e-01 -1.45872027e-02 -3.40241771e+01] [-5.78212651e-02 -5.19706477e-04 9.98326816e-01 -1.13985920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.96, Y:-34.03, Z:-11.40 [[ 9.63820215e-01 2.60678537e-01 5.56533273e-02 1.71959467e+02] [-2.60274258e-01 9.65425533e-01 -1.45206657e-02 -3.40314944e+01] [-5.75143691e-02 -4.89817313e-04 9.98344558e-01 -1.14013823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-34.04, Z:-11.41 [[ 9.63781644e-01 2.60897634e-01 5.52934645e-02 1.71989909e+02] [-2.60498301e-01 9.65366348e-01 -1.44377963e-02 -3.40378325e+01] [-5.71452368e-02 -4.88970532e-04 9.98365756e-01 -1.14059542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-34.05, Z:-11.41 [[ 9.63684505e-01 2.61321803e-01 5.49826313e-02 1.72021359e+02] [-2.60927163e-01 9.65251606e-01 -1.43649978e-02 -3.40456877e+01] [-5.68259602e-02 -5.03136263e-04 9.98383973e-01 -1.14085061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-34.05, Z:-11.41 [[ 9.63599652e-01 2.61634721e-01 5.49816556e-02 1.72052234e+02] [-2.61239941e-01 9.65166831e-01 -1.43764145e-02 -3.40535563e+01] [-5.68278395e-02 -5.10296447e-04 9.98383862e-01 -1.14106943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-34.06, Z:-11.41 [[ 9.63452244e-01 2.62085375e-01 5.54168637e-02 1.72083713e+02] [-2.61684426e-01 9.65044545e-01 -1.45012598e-02 -3.40614167e+01] [-5.72803102e-02 -5.30458826e-04 9.98357994e-01 -1.14131243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-34.07, Z:-11.42 [[ 9.63365185e-01 2.62455997e-01 5.51758123e-02 1.72114099e+02] [-2.62058567e-01 9.64943811e-01 -1.44481742e-02 -3.40690906e+01] [-5.70335686e-02 -5.40426286e-04 9.98372115e-01 -1.14153141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.15, Y:-34.08, Z:-11.42 [[ 9.63239111e-01 2.63051617e-01 5.45367973e-02 1.72145182e+02] [-2.62663706e-01 9.64781599e-01 -1.42913603e-02 -3.40757574e+01] [-5.63754639e-02 -5.58840119e-04 9.98409483e-01 -1.14155453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:-34.08, Z:-11.42 [[ 9.63188875e-01 2.63255067e-01 5.44422761e-02 1.72174692e+02] [-2.62868738e-01 9.64726099e-01 -1.42681226e-02 -3.40830289e+01] [-5.62780402e-02 -5.68275476e-04 9.98414973e-01 -1.14203070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-34.09, Z:-11.42 [[ 9.63104381e-01 2.63618872e-01 5.41760291e-02 1.72202940e+02] [-2.63236828e-01 9.64626740e-01 -1.41994640e-02 -3.40904178e+01] [-5.60028930e-02 -5.85560105e-04 9.98430435e-01 -1.14224895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:172.23, Y:-34.10, Z:-11.42 [[ 9.62500499e-01 2.65715942e-01 5.46610185e-02 1.72234110e+02] [-2.65330608e-01 9.64051100e-01 -1.43228935e-02 -3.40993793e+01] [-5.65018361e-02 -7.17449152e-04 9.98402237e-01 -1.14210669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-34.11, Z:-11.43 [[ 9.62138009e-01 2.66908039e-01 5.52317830e-02 1.72264460e+02] [-2.66515974e-01 9.63721683e-01 -1.44828912e-02 -3.41061560e+01] [-5.70936669e-02 -7.85612295e-04 9.98368517e-01 -1.14254722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-34.11, Z:-11.43 [[ 9.61281532e-01 2.69950584e-01 5.53579100e-02 1.72294931e+02] [-2.69561122e-01 9.62873701e-01 -1.45270957e-02 -3.41103373e+01] [-5.72242737e-02 -9.57711513e-04 9.98360889e-01 -1.14272389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-34.12, Z:-11.43 [[ 9.60869629e-01 2.71450249e-01 5.51753476e-02 1.72323361e+02] [-2.71065814e-01 9.62451907e-01 -1.44793239e-02 -3.41163276e+01] [-5.70340346e-02 -1.04340798e-03 9.98371689e-01 -1.14293373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:-34.12, Z:-11.43 [[ 9.60573116e-01 2.72536158e-01 5.49848198e-02 1.72352168e+02] [-2.72156185e-01 9.62144907e-01 -1.44287493e-02 -3.41227682e+01] [-5.68357202e-02 -1.10459005e-03 9.98382933e-01 -1.14318534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-34.13, Z:-11.43 [[ 9.60563674e-01 2.72688351e-01 5.43920143e-02 1.72380950e+02] [-2.72316851e-01 9.62101786e-01 -1.42718501e-02 -3.41299321e+01] [-5.62224214e-02 -1.10284134e-03 9.98417660e-01 -1.14342102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-34.14, Z:-11.44 [[ 9.60727159e-01 2.72096884e-01 5.44666160e-02 1.72410590e+02] [-2.71723508e-01 9.62269265e-01 -1.42897725e-02 -3.41379389e+01] [-5.62997532e-02 -1.07128738e-03 9.98413336e-01 -1.14361319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:-34.14, Z:-11.44 [[ 9.61148745e-01 2.70500145e-01 5.49796524e-02 1.72439175e+02] [-2.70117078e-01 9.62719428e-01 -1.44245119e-02 -3.41439155e+01] [-5.68318121e-02 -9.86841540e-04 9.98383279e-01 -1.14380262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:172.47, Y:-34.15, Z:-11.44 [[ 9.61422113e-01 2.69579667e-01 5.47204222e-02 1.72468202e+02] [-2.69198749e-01 9.62977643e-01 -1.43559305e-02 -3.41504148e+01] [-5.65646101e-02 -9.28560166e-04 9.98398509e-01 -1.14369961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-34.16, Z:-11.44 [[ 9.62179184e-01 2.66757992e-01 5.52394096e-02 1.72497600e+02] [-2.66365272e-01 9.63763238e-01 -1.44901289e-02 -3.41591685e+01] [-5.71030699e-02 -7.71759973e-04 9.98367990e-01 -1.14421034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:-34.17, Z:-11.44 [[ 9.62544613e-01 2.65326327e-01 5.57656589e-02 1.72527015e+02] [-2.64923617e-01 9.64158421e-01 -1.46292952e-02 -3.41672869e+01] [-5.76484668e-02 -6.92290770e-04 9.98336704e-01 -1.14442872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:-34.17, Z:-11.45 [[ 9.62879064e-01 2.64071722e-01 5.59467049e-02 1.72554414e+02] [-2.63664022e-01 9.64502850e-01 -1.46811376e-02 -3.41740694e+01] [-5.78376296e-02 -6.14973215e-04 9.98325814e-01 -1.14457209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:-34.18, Z:-11.45 [[ 9.63347688e-01 2.62457142e-01 5.54750459e-02 1.72582979e+02] [-2.62053743e-01 9.64943513e-01 -1.45551708e-02 -3.41811390e+01] [-5.73503942e-02 -5.15753326e-04 9.98353978e-01 -1.14477378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:-34.19, Z:-11.45 [[ 9.63429625e-01 2.62053619e-01 5.59576463e-02 1.72613526e+02] [-2.61642596e-01 9.65053187e-01 -1.46798796e-02 -3.41892136e+01] [-5.78490205e-02 -4.97872932e-04 9.98325219e-01 -1.14498621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:-34.20, Z:-11.45 [[ 9.63391706e-01 2.62041540e-01 5.66626192e-02 1.72645076e+02] [-2.61620064e-01 9.65056464e-01 -1.48648511e-02 -3.41973941e+01] [-5.85778354e-02 -5.03403831e-04 9.98282717e-01 -1.14514190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-34.21, Z:-11.45 [[ 9.63260544e-01 2.62608314e-01 5.62672031e-02 1.72676155e+02] [-2.62193069e-01 9.64902378e-01 -1.47714577e-02 -3.42057413e+01] [-5.81714656e-02 -5.24108322e-04 9.98306469e-01 -1.14538421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:-34.21, Z:-11.46 [[ 9.63031088e-01 2.63467152e-01 5.61799166e-02 1.72706472e+02] [-2.63054046e-01 9.64668202e-01 -1.47590056e-02 -3.42138151e+01] [-5.80834924e-02 -5.64973180e-04 9.98311569e-01 -1.14563322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-34.22, Z:-11.46 [[ 9.62735070e-01 2.64503429e-01 5.63836995e-02 1.72735547e+02] [-2.64088445e-01 9.64384546e-01 -1.48236488e-02 -3.42212412e+01] [-5.82964744e-02 -6.19036978e-04 9.98299122e-01 -1.14587752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.76, Y:-34.23, Z:-11.46 [[ 9.62204108e-01 2.66523424e-01 5.59331643e-02 1.72763681e+02] [-2.66118381e-01 9.63828162e-01 -1.47065173e-02 -3.42276170e+01] [-5.78295903e-02 -7.34171745e-04 9.98326199e-01 -1.14583982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:-34.24, Z:-11.46 [[ 9.62017184e-01 2.67267860e-01 5.55952127e-02 1.72792151e+02] [-2.66869112e-01 9.63621963e-01 -1.46147225e-02 -3.42353708e+01] [-5.74788136e-02 -7.77030852e-04 9.98346424e-01 -1.14634155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:-34.24, Z:-11.47 [[ 9.62061699e-01 2.67106709e-01 5.55994093e-02 1.72819538e+02] [-2.66707704e-01 9.63666652e-01 -1.46145561e-02 -3.42433727e+01] [-5.74829426e-02 -7.68686146e-04 9.98346193e-01 -1.14659936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:-34.25, Z:-11.47 [[ 9.62279668e-01 2.66494395e-01 5.47592669e-02 1.72848480e+02] [-2.66106498e-01 9.63836197e-01 -1.43915771e-02 -3.42512516e+01] [-5.66142382e-02 -7.23074699e-04 9.98395866e-01 -1.14674982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:-34.26, Z:-11.47 [[ 9.62397895e-01 2.66016310e-01 5.50055823e-02 1.72876708e+02] [-2.65624211e-01 9.63968274e-01 -1.44549125e-02 -3.42583368e+01] [-5.68688787e-02 -6.99437051e-04 9.98381411e-01 -1.14695448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-34.26, Z:-11.47 [[ 9.62532393e-01 2.65426231e-01 5.55005337e-02 1.72905102e+02] [-2.65026134e-01 9.64130937e-01 -1.45836900e-02 -3.42641921e+01] [-5.73806754e-02 -6.71817791e-04 9.98352146e-01 -1.14711646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:-34.28, Z:-11.47 [[ 9.62269700e-01 2.65896582e-01 5.77584053e-02 1.72932615e+02] [-2.65688851e-01 9.63991574e-01 -1.13876644e-02 -3.42757773e+01] [-5.87065571e-02 -4.38776000e-03 9.98265640e-01 -1.14732933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-34.28, Z:-11.47 [[ 9.62038785e-01 2.67196924e-01 5.55623956e-02 1.72964231e+02] [-2.66588157e-01 9.63638089e-01 -1.82315141e-02 -3.42803830e+01] [-5.84134453e-02 2.72714702e-03 9.98288752e-01 -1.14746507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264000000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:172.99, Y:-34.29, Z:-11.47 [[ 9.61706321e-01 2.68101393e-01 5.69437962e-02 1.72993562e+02] [-2.67684520e-01 9.63390329e-01 -1.49690503e-02 -3.42897433e+01] [-5.88723258e-02 -8.47142481e-04 9.98265161e-01 -1.14731397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:-34.30, Z:-11.48 [[ 9.61233062e-01 2.69657124e-01 5.75850346e-02 1.73023395e+02] [-2.69233550e-01 9.62955933e-01 -1.51382691e-02 -3.42971764e+01] [-5.95339928e-02 -9.52418473e-04 9.98225824e-01 -1.14777030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.05, Y:-34.30, Z:-11.48 [[ 9.60374437e-01 2.72815071e-01 5.70340121e-02 1.73052798e+02] [-2.72405035e-01 9.62065823e-01 -1.49949871e-02 -3.43030480e+01] [-5.89613322e-02 -1.13554974e-03 9.98259621e-01 -1.14778629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:-34.31, Z:-11.48 [[ 9.59640580e-01 2.75520657e-01 5.63766358e-02 1.73081391e+02] [-2.75124601e-01 9.61294292e-01 -1.48235747e-02 -3.43076307e+01] [-5.82787392e-02 -1.28529561e-03 9.98299522e-01 -1.14826047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:-34.31, Z:-11.48 [[ 9.59330233e-01 2.76650262e-01 5.61260748e-02 1.73110481e+02] [-2.76259826e-01 9.60969723e-01 -1.47546739e-02 -3.43134013e+01] [-5.80173429e-02 -1.35077490e-03 9.98314661e-01 -1.14846383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:-34.32, Z:-11.49 [[ 9.59095553e-01 2.77514630e-01 5.58690534e-02 1.73138677e+02] [-2.77129296e-01 9.60720395e-01 -1.46859406e-02 -3.43196204e+01] [-5.77501024e-02 -1.39773111e-03 9.98330092e-01 -1.14870486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-34.32, Z:-11.49 [[ 9.58862268e-01 2.78566250e-01 5.46259656e-02 1.73165972e+02] [-2.78199734e-01 9.60415950e-01 -1.43565740e-02 -3.43246501e+01] [-5.64629057e-02 -1.43095199e-03 9.98403672e-01 -1.14896766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-34.33, Z:-11.49 [[ 9.58837058e-01 2.78789159e-01 5.39268044e-02 1.73194477e+02] [-2.78432523e-01 9.60351271e-01 -1.41692367e-02 -3.43298217e+01] [-5.57389047e-02 -1.42898701e-03 9.98444356e-01 -1.14918226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-34.33, Z:-11.49 [[ 9.59085525e-01 2.77951066e-01 5.38345609e-02 1.73222779e+02] [-2.77594482e-01 9.60594243e-01 -1.41422896e-02 -3.43321213e+01] [-5.56440338e-02 -1.38051183e-03 9.98449716e-01 -1.14933737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.25, Y:-34.34, Z:-11.49 [[ 9.59391218e-01 2.76814519e-01 5.42421759e-02 1.73251553e+02] [-2.76450850e-01 9.60922453e-01 -1.42466376e-02 -3.43379575e+01] [-5.60662009e-02 -1.32719660e-03 9.98426171e-01 -1.14940095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.28, Y:-34.35, Z:-11.50 [[ 9.59413245e-01 2.76738050e-01 5.42427570e-02 1.73279879e+02] [-2.76374384e-01 9.60944481e-01 -1.42444248e-02 -3.43452909e+01] [-5.60662523e-02 -1.32501874e-03 9.98426171e-01 -1.14960093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:-34.35, Z:-11.50 [[ 9.59814837e-01 2.75329244e-01 5.43073253e-02 1.73308169e+02] [-2.74962742e-01 9.61349181e-01 -1.42563425e-02 -3.43516478e+01] [-5.61334907e-02 -1.24904203e-03 9.98422491e-01 -1.14996025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:-34.36, Z:-11.50 [[ 9.60347549e-01 2.73456593e-01 5.43514253e-02 1.73335211e+02] [-2.73086644e-01 9.61883665e-01 -1.42653255e-02 -3.43569078e+01] [-5.61806955e-02 -1.14297791e-03 9.98419963e-01 -1.15014644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:173.36, Y:-34.36, Z:-11.50 [[ 9.61526876e-01 2.69404201e-01 5.37349389e-02 1.73363168e+02] [-2.69036464e-01 9.63026774e-01 -1.41001028e-02 -3.43610852e+01] [-5.55468118e-02 -8.99030134e-04 9.98455679e-01 -1.15009718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:-34.37, Z:-11.50 [[ 9.62550530e-01 2.65698502e-01 5.38589119e-02 1.73391422e+02] [-2.65323460e-01 9.64055927e-01 -1.41291083e-02 -3.43668858e+01] [-5.56770861e-02 -6.90052170e-04 9.98448590e-01 -1.15047233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:173.42, Y:-34.37, Z:-11.51 [[ 9.62961653e-01 2.64245907e-01 5.36559025e-02 1.73419786e+02] [-2.63871582e-01 9.64455148e-01 -1.40732048e-02 -3.43729342e+01] [-5.54674982e-02 -6.06311294e-04 9.98460309e-01 -1.15050098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.45, Y:-34.38, Z:-11.51 [[ 9.63344973e-01 2.62912383e-01 5.33248723e-02 1.73446760e+02] [-2.62540762e-01 9.64819568e-01 -1.39838856e-02 -3.43797304e+01] [-5.51254169e-02 -5.28646717e-04 9.98479298e-01 -1.15079010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:-34.39, Z:-11.51 [[ 9.63612503e-01 2.61807591e-01 5.39233674e-02 1.73474798e+02] [-2.61426087e-01 9.65119972e-01 -1.41365144e-02 -3.43870944e+01] [-5.57435656e-02 -4.74852927e-04 9.98445006e-01 -1.15109049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:173.50, Y:-34.39, Z:-11.51 [[ 9.64058292e-01 2.59947301e-01 5.49455207e-02 1.73503279e+02] [-2.59548328e-01 9.65622731e-01 -1.44016231e-02 -3.43918254e+01] [-5.68003068e-02 -3.77013846e-04 9.98385488e-01 -1.15093921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.53, Y:-34.40, Z:-11.51 [[ 9.64231445e-01 2.59278459e-01 5.50672486e-02 1.73531017e+02] [-2.58876783e-01 9.65802549e-01 -1.44307506e-02 -3.43959529e+01] [-5.69256718e-02 -3.41048644e-04 9.98378361e-01 -1.15120310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:173.56, Y:-34.40, Z:-11.51 [[ 9.64335553e-01 2.59018369e-01 5.44649062e-02 1.73557875e+02] [-2.58625223e-01 9.65872341e-01 -1.42693844e-02 -3.44035461e+01] [-5.63021791e-02 -3.25523765e-04 9.98413721e-01 -1.15137055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:-34.41, Z:-11.52 [[ 9.64359104e-01 2.58940455e-01 5.44183823e-02 1.73585076e+02] [-2.58548065e-01 9.65893232e-01 -1.42535033e-02 -3.44113237e+01] [-5.62531558e-02 -3.24271808e-04 9.98416485e-01 -1.15174932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:-34.42, Z:-11.52 [[ 9.64473685e-01 2.58665441e-01 5.36907941e-02 1.73611930e+02] [-2.58283199e-01 9.65966923e-01 -1.40603422e-02 -3.44167994e+01] [-5.55004558e-02 -3.06600043e-04 9.98458615e-01 -1.15194353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:173.64, Y:-34.42, Z:-11.52 [[ 9.64482445e-01 2.58610253e-01 5.37991579e-02 1.73639931e+02] [-2.58226587e-01 9.65981699e-01 -1.40850054e-02 -3.44229390e+01] [-5.56115287e-02 -3.07632455e-04 9.98452434e-01 -1.15195102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:-34.43, Z:-11.52 [[ 9.64515049e-01 2.58471562e-01 5.38810885e-02 1.73666447e+02] [-2.58086659e-01 9.66018820e-01 -1.41037802e-02 -3.44300109e+01] [-5.56955716e-02 -3.02681839e-04 9.98447751e-01 -1.15232237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:-34.44, Z:-11.53 [[ 9.64486151e-01 2.58688248e-01 5.33559294e-02 1.73693799e+02] [-2.58311353e-01 9.65960812e-01 -1.39625990e-02 -3.44378169e+01] [-5.51516971e-02 -3.15708998e-04 9.98477937e-01 -1.15252971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:-34.45, Z:-11.53 [[ 9.64426230e-01 2.58989374e-01 5.29768871e-02 1.73721236e+02] [-2.58618422e-01 9.65880113e-01 -1.38606972e-02 -3.44455372e+01] [-5.47590950e-02 -3.33178976e-04 9.98499540e-01 -1.15270343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:-34.45, Z:-11.53 [[ 9.64102483e-01 2.60084383e-01 5.35024837e-02 1.73748634e+02] [-2.59707869e-01 9.65585808e-01 -1.39953792e-02 -3.44537160e+01] [-5.53012185e-02 -4.02036189e-04 9.98469636e-01 -1.15285173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:173.78, Y:-34.46, Z:-11.53 [[ 9.63891033e-01 2.60809408e-01 5.37822375e-02 1.73776831e+02] [-2.60430228e-01 9.65390207e-01 -1.40657415e-02 -3.44606897e+01] [-5.55893231e-02 -4.48678232e-04 9.98453617e-01 -1.15283917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:-34.47, Z:-11.53 [[ 9.63331328e-01 2.62777818e-01 5.42270383e-02 1.73803732e+02] [-2.62395601e-01 9.64856204e-01 -1.41793704e-02 -3.44664992e+01] [-5.60473184e-02 -5.69504598e-04 9.98427951e-01 -1.15317681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:-34.47, Z:-11.53 [[ 9.63065796e-01 2.63711775e-01 5.44093070e-02 1.73831046e+02] [-2.63328673e-01 9.64601318e-01 -1.42234543e-02 -3.44729992e+01] [-5.62341817e-02 -6.29408271e-04 9.98417408e-01 -1.15332174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:-34.48, Z:-11.54 [[ 9.62851724e-01 2.64522162e-01 5.42640091e-02 1.73858275e+02] [-2.64142570e-01 9.64379368e-01 -1.41822650e-02 -3.44806364e+01] [-5.60826142e-02 -6.78016522e-04 9.98425901e-01 -1.15353295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.89, Y:-34.49, Z:-11.54 [[ 9.62577830e-01 2.65671626e-01 5.35024205e-02 1.73885383e+02] [-2.65304630e-01 9.64063297e-01 -1.39789765e-02 -3.44894230e+01] [-5.52935374e-02 -7.38586997e-04 9.98469869e-01 -1.15359195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:-34.50, Z:-11.54 [[ 9.62402169e-01 2.66284269e-01 5.36167191e-02 1.73911864e+02] [-2.65916792e-01 9.63894228e-01 -1.40062980e-02 -3.44962607e+01] [-5.54105029e-02 -7.77894354e-04 9.98463355e-01 -1.15391481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264000000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:173.94, Y:-34.50, Z:-11.54 [[ 9.62194361e-01 2.66700781e-01 5.52512864e-02 1.73939005e+02] [-2.66503571e-01 9.63770664e-01 -1.10432815e-02 -3.45045828e+01] [-5.61948208e-02 -4.09888199e-03 9.98411409e-01 -1.15397268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:-34.51, Z:-11.54 [[ 9.62018014e-01 2.67911573e-01 5.23901700e-02 1.73966779e+02] [-2.67377183e-01 9.63440442e-01 -1.70867454e-02 -3.45086616e+01] [-5.50525454e-02 2.42982081e-03 9.98480502e-01 -1.15421904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:173.99, Y:-34.52, Z:-11.54 [[ 9.61803082e-01 2.68411591e-01 5.37591736e-02 1.73993354e+02] [-2.68046172e-01 9.63303888e-01 -1.40309939e-02 -3.45176242e+01] [-5.55525024e-02 -9.14887465e-04 9.98455348e-01 -1.15431602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:-34.53, Z:-11.55 [[ 9.61369136e-01 2.70043001e-01 5.33494310e-02 1.74020358e+02] [-2.69685873e-01 9.62847738e-01 -1.39198926e-02 -3.45252953e+01] [-5.51263485e-02 -1.00543272e-03 9.98478881e-01 -1.15462511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:-34.53, Z:-11.55 [[ 9.61216194e-01 2.70731749e-01 5.26093936e-02 1.74047854e+02] [-2.70385679e-01 9.62654274e-01 -1.37234527e-02 -3.45326818e+01] [-5.43600320e-02 -1.03362166e-03 9.98520865e-01 -1.15481391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87264000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.07, Y:-34.54, Z:-11.55 [[ 9.60884367e-01 2.71812011e-01 5.30986213e-02 1.74074936e+02] [-2.71461268e-01 9.62349731e-01 -1.38483203e-02 -3.45397728e+01] [-5.48635837e-02 -1.10758460e-03 9.98493245e-01 -1.15497714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:-34.55, Z:-11.55 [[ 9.60855563e-01 2.72000241e-01 5.26541227e-02 1.74102425e+02] [-2.71655836e-01 9.62296540e-01 -1.37286514e-02 -3.45474908e+01] [-5.44030765e-02 -1.11254865e-03 9.98518436e-01 -1.15525613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-34.56, Z:-11.55 [[ 9.60861745e-01 2.71944670e-01 5.28280496e-02 1.74130357e+02] [-2.71598051e-01 9.62312242e-01 -1.37712479e-02 -3.45555200e+01] [-5.45820963e-02 -1.11572997e-03 9.98508663e-01 -1.15543803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:-34.56, Z:-11.56 [[ 9.60900252e-01 2.71607666e-01 5.38514733e-02 1.74157381e+02] [-2.71247100e-01 9.62407409e-01 -1.40353247e-02 -3.45622309e+01] [-5.56391586e-02 -1.12050895e-03 9.98450313e-01 -1.15555516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:-34.57, Z:-11.56 [[ 9.60997976e-01 2.71298613e-01 5.36651827e-02 1.74185051e+02] [-2.70940258e-01 9.62494596e-01 -1.39831735e-02 -3.45689103e+01] [-5.54460639e-02 -1.10225695e-03 9.98461075e-01 -1.15579583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:-34.58, Z:-11.56 [[ 9.61101029e-01 2.71101911e-01 5.28068710e-02 1.74211982e+02] [-2.70754775e-01 9.62550049e-01 -1.37570076e-02 -3.45755427e+01] [-5.45588073e-02 -1.07583836e-03 9.98509979e-01 -1.15599758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:-34.58, Z:-11.56 [[ 9.61100039e-01 2.71101351e-01 5.28277563e-02 1.74239669e+02] [-2.70754135e-01 9.62550202e-01 -1.37588814e-02 -3.45818818e+01] [-5.45794188e-02 -1.07967197e-03 9.98508849e-01 -1.15622876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:-34.59, Z:-11.56 [[ 9.61066891e-01 2.71262247e-01 5.26044075e-02 1.74267199e+02] [-2.70918343e-01 9.62504864e-01 -1.36981331e-02 -3.45878692e+01] [-5.43477844e-02 -1.08667671e-03 9.98521476e-01 -1.15643975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:174.29, Y:-34.59, Z:-11.57 [[ 9.60962296e-01 2.71688968e-01 5.23122285e-02 1.74294722e+02] [-2.71349692e-01 9.62384475e-01 -1.36186547e-02 -3.45925572e+01] [-5.40445148e-02 -1.10789339e-03 9.98537913e-01 -1.15656058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:174.32, Y:-34.60, Z:-11.57 [[ 9.60986742e-01 2.71614443e-01 5.22501250e-02 1.74323490e+02] [-2.71276053e-01 9.62405513e-01 -1.35989499e-02 -3.45979639e+01] [-5.39794795e-02 -1.10579710e-03 9.98541433e-01 -1.15677872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:174.35, Y:-34.60, Z:-11.57 [[ 9.61007473e-01 2.71471522e-01 5.26103607e-02 1.74350430e+02] [-2.71128340e-01 9.62445836e-01 -1.36907481e-02 -3.46024485e+01] [-5.43512708e-02 -1.10724857e-03 9.98521263e-01 -1.15693295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:-34.60, Z:-11.57 [[ 9.61119476e-01 2.71008445e-01 5.29506938e-02 1.74378263e+02] [-2.70660461e-01 9.62576348e-01 -1.37727970e-02 -3.46049513e+01] [-5.47016298e-02 -1.09435569e-03 9.98502145e-01 -1.15718128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.41, Y:-34.61, Z:-11.57 [[ 9.61399531e-01 2.69937964e-01 5.33332683e-02 1.74405235e+02] [-2.69583507e-01 9.62877149e-01 -1.38682648e-02 -3.46102900e+01] [-5.50969565e-02 -1.04482624e-03 9.98480462e-01 -1.15734925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:174.43, Y:-34.62, Z:-11.58 [[ 9.62373009e-01 2.66355346e-01 5.37868047e-02 1.74432598e+02] [-2.65989486e-01 9.63874528e-01 -1.39817084e-02 -3.46160894e+01] [-5.55678338e-02 -8.51105798e-04 9.98454552e-01 -1.15751486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:-34.62, Z:-11.58 [[ 9.63107624e-01 2.63776229e-01 5.33460848e-02 1.74460654e+02] [-2.63412590e-01 9.64583646e-01 -1.38634964e-02 -3.46230197e+01] [-5.51136218e-02 -6.99991328e-04 9.98479844e-01 -1.15780101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:-34.63, Z:-11.58 [[ 9.63907557e-01 2.60824164e-01 5.34132565e-02 1.74488118e+02] [-2.60455220e-01 9.65386176e-01 -1.38783455e-02 -3.46288455e+01] [-5.51842273e-02 -5.34319417e-04 9.98476047e-01 -1.15798983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:-34.63, Z:-11.58 [[ 9.65525975e-01 2.54780127e-01 5.33542655e-02 1.74516110e+02] [-2.54402972e-01 9.66998992e-01 -1.38592134e-02 -3.46334989e+01] [-5.51245731e-02 -1.92053251e-04 9.98479466e-01 -1.15821760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:-34.64, Z:-11.58 [[ 9.66291145e-01 2.51799806e-01 5.36496029e-02 1.74542936e+02] [-2.51414019e-01 9.67779343e-01 -1.39332114e-02 -3.46399418e+01] [-5.54293574e-02 -2.47234462e-05 9.98462611e-01 -1.15843358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:-34.65, Z:-11.59 [[ 9.67473781e-01 2.47229736e-01 5.35904861e-02 1.74570620e+02] [-2.46837990e-01 9.68956864e-01 -1.39141479e-02 -3.46467307e+01] [-5.53668604e-02 2.33405410e-04 9.98466052e-01 -1.15864604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264000000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:174.60, Y:-34.65, Z:-11.59 [[ 9.67838511e-01 2.45776980e-01 5.36869976e-02 1.74598665e+02] [-2.45381741e-01 9.69326352e-01 -1.39364153e-02 -3.46540445e+01] [-5.54654716e-02 3.14390524e-04 9.98460556e-01 -1.15880698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:-34.66, Z:-11.59 [[ 9.68182234e-01 2.44589744e-01 5.29057591e-02 1.74626960e+02] [-2.44204331e-01 9.69626586e-01 -1.37305414e-02 -3.46622803e+01] [-5.46571803e-02 3.73850775e-04 9.98505109e-01 -1.15909634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:-34.67, Z:-11.59 [[ 9.68164665e-01 2.44745954e-01 5.25033368e-02 1.74654370e+02] [-2.44366679e-01 9.69587174e-01 -1.36249138e-02 -3.46690420e+01] [-5.42412044e-02 3.61094012e-04 9.98527797e-01 -1.15930349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:174.68, Y:-34.68, Z:-11.59 [[ 9.67982927e-01 2.45417491e-01 5.27191379e-02 1.74682419e+02] [-2.45036187e-01 9.69417429e-01 -1.36790375e-02 -3.46753277e+01] [-5.44639262e-02 3.22978191e-04 9.98515687e-01 -1.15942000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:-34.68, Z:-11.60 [[ 9.67582555e-01 2.47027060e-01 5.25512171e-02 1.74709642e+02] [-2.46650695e-01 9.69008555e-01 -1.36328766e-02 -3.46812156e+01] [-5.42902684e-02 2.29139298e-04 9.98525170e-01 -1.15966314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59264000000002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:174.74, Y:-34.69, Z:-11.60 [[ 9.67276482e-01 2.48179641e-01 5.27548428e-02 1.74737080e+02] [-2.47802263e-01 9.68714013e-01 -1.36820472e-02 -3.46888316e+01] [-5.44999611e-02 1.61553041e-04 9.98513760e-01 -1.15978007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-34.70, Z:-11.60 [[ 9.66886274e-01 2.49880328e-01 5.18724948e-02 1.74763492e+02] [-2.49518056e-01 9.68276726e-01 -1.34507262e-02 -3.46961381e+01] [-5.35880013e-02 6.21984600e-05 9.98563129e-01 -1.16004368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:-34.70, Z:-11.60 [[ 9.66685172e-01 2.50618815e-01 5.20575431e-02 1.74791310e+02] [-2.50255214e-01 9.68085848e-01 -1.34951190e-02 -3.47038104e+01] [-5.37783015e-02 1.78598596e-05 9.98552900e-01 -1.16027912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:-34.71, Z:-11.60 [[ 9.66506446e-01 2.51250891e-01 5.23285758e-02 1.74817791e+02] [-2.50884558e-01 9.67921996e-01 -1.35627798e-02 -3.47119128e+01] [-5.40576400e-02 -1.99175106e-05 9.98537817e-01 -1.16043605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.85, Y:-34.72, Z:-11.61 [[ 9.66105200e-01 2.52606040e-01 5.32064881e-02 1.74846285e+02] [-2.52229561e-01 9.67569211e-01 -1.37865953e-02 -3.47188293e+01] [-5.49635369e-02 -1.00947722e-04 9.98488357e-01 -1.16052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:-34.73, Z:-11.61 [[ 9.65981820e-01 2.53081266e-01 5.31883153e-02 1.74873854e+02] [-2.52705918e-01 9.67445014e-01 -1.37790827e-02 -3.47254587e+01] [-5.49439981e-02 -1.30658701e-04 9.98489429e-01 -1.16071123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-34.73, Z:-11.61 [[ 9.65779170e-01 2.53749290e-01 5.36832522e-02 1.74901046e+02] [-2.53368098e-01 9.67270008e-01 -1.39046455e-02 -3.47331890e+01] [-5.54544937e-02 -1.72806492e-04 9.98461201e-01 -1.16088900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.93, Y:-34.74, Z:-11.61 [[ 9.65709014e-01 2.53972591e-01 5.38889897e-02 1.74929131e+02] [-2.53589035e-01 9.67211397e-01 -1.39540041e-02 -3.47404565e+01] [-5.56659796e-02 -1.90149430e-04 9.98449429e-01 -1.16105698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:-34.75, Z:-11.61 [[ 9.65725971e-01 2.53893678e-01 5.39569178e-02 1.74955985e+02] [-2.53509179e-01 9.67232115e-01 -1.39689430e-02 -3.47468890e+01] [-5.57354901e-02 -1.88402867e-04 9.98445552e-01 -1.16128121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:-34.75, Z:-11.62 [[ 9.65799819e-01 2.53683097e-01 5.36245845e-02 1.74983422e+02] [-2.53303198e-01 9.67287369e-01 -1.38793116e-02 -3.47543133e+01] [-5.53913300e-02 -1.78642185e-04 9.98464706e-01 -1.16152403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.01, Y:-34.76, Z:-11.62 [[ 9.65777291e-01 2.53701713e-01 5.39413105e-02 1.75010853e+02] [-2.53317492e-01 9.67282486e-01 -1.39585537e-02 -3.47621777e+01] [-5.57177939e-02 -1.83423342e-04 9.98446540e-01 -1.16164926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.04, Y:-34.77, Z:-11.62 [[ 9.65786590e-01 2.53666159e-01 5.39420320e-02 1.75039203e+02] [-2.53282038e-01 9.67291810e-01 -1.39557649e-02 -3.47694278e+01] [-5.57177911e-02 -1.84257259e-04 9.98446540e-01 -1.16184942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:-34.78, Z:-11.62 [[ 9.65768117e-01 2.53969407e-01 5.28344938e-02 1.75065923e+02] [-2.53601454e-01 9.67212231e-01 -1.36675502e-02 -3.47764132e+01] [-5.45733082e-02 -1.99220283e-04 9.98509747e-01 -1.16209561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:-34.78, Z:-11.62 [[ 9.65610632e-01 2.54480736e-01 5.32509442e-02 1.75093495e+02] [-2.54107933e-01 9.67077815e-01 -1.37716354e-02 -3.47840982e+01] [-5.50024227e-02 -2.33449861e-04 9.98486194e-01 -1.16231865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-34.79, Z:-11.62 [[ 9.65237389e-01 2.55719163e-01 5.40785831e-02 1.75120286e+02] [-2.55336768e-01 9.66751060e-01 -1.39829159e-02 -3.47912326e+01] [-5.58562271e-02 -3.11417396e-04 9.98438774e-01 -1.16238499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-34.80, Z:-11.63 [[ 9.65039206e-01 2.56387682e-01 5.44489445e-02 1.75147733e+02] [-2.56001296e-01 9.66573965e-01 -1.40750340e-02 -3.47966218e+01] [-5.62375975e-02 -3.56040716e-04 9.98417351e-01 -1.16257927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:-34.80, Z:-11.63 [[ 9.64808073e-01 2.57170681e-01 5.48509163e-02 1.75175599e+02] [-2.56780019e-01 9.66365911e-01 -1.41755953e-02 -3.48022357e+01] [-5.66516032e-02 -4.07890570e-04 9.98393925e-01 -1.16279325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.20, Y:-34.81, Z:-11.63 [[ 9.64321771e-01 2.58873513e-01 5.53897663e-02 1.75202854e+02] [-2.58478177e-01 9.65911092e-01 -1.43106493e-02 -3.48075372e+01] [-5.72062377e-02 -5.16975134e-04 9.98362248e-01 -1.16301283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-34.81, Z:-11.63 [[ 9.64228906e-01 2.59501703e-01 5.40507395e-02 1.75229829e+02] [-2.59126467e-01 9.65742497e-01 -1.39608075e-02 -3.48133140e+01] [-5.58219495e-02 -5.44562992e-04 9.98440591e-01 -1.16327141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:175.26, Y:-34.82, Z:-11.63 [[ 9.63937242e-01 2.60587752e-01 5.40279181e-02 1.75257655e+02] [-2.60214771e-01 9.65449973e-01 -1.39507508e-02 -3.48187174e+01] [-5.57966468e-02 -6.11214106e-04 9.98441967e-01 -1.16345777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:-34.82, Z:-11.64 [[ 9.63982480e-01 2.60454302e-01 5.38640415e-02 1.75284881e+02] [-2.60083616e-01 9.65485986e-01 -1.39040643e-02 -3.48249901e+01] [-5.56263506e-02 -6.05880271e-04 9.98451472e-01 -1.16372054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:175.31, Y:-34.83, Z:-11.64 [[ 9.63992827e-01 2.60275767e-01 5.45376486e-02 1.75312953e+02] [-2.59895669e-01 9.65534130e-01 -1.40742458e-02 -3.48313728e+01] [-5.63211462e-02 -6.06626693e-04 9.98412520e-01 -1.16381856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:-34.84, Z:-11.64 [[ 9.64474282e-01 2.58497249e-01 5.44842358e-02 1.75339817e+02] [-2.58115217e-01 9.66011862e-01 -1.40576546e-02 -3.48363088e+01] [-5.62662831e-02 -5.04964002e-04 9.98415670e-01 -1.16410035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:-34.84, Z:-11.64 [[ 9.64831737e-01 2.57150121e-01 5.45301300e-02 1.75366810e+02] [-2.56765503e-01 9.66371373e-01 -1.40657830e-02 -3.48422045e+01] [-5.63133744e-02 -4.30342453e-04 9.98413050e-01 -1.16433187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:-34.85, Z:-11.65 [[ 9.65201803e-01 2.55716862e-01 5.47207977e-02 1.75393817e+02] [-2.55327441e-01 9.66751655e-01 -1.41115102e-02 -3.48487844e+01] [-5.65099729e-02 -3.51266198e-04 9.98401973e-01 -1.16458473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:-34.86, Z:-11.65 [[ 9.65898536e-01 2.53020582e-01 5.49600206e-02 1.75421397e+02] [-2.52623642e-01 9.67460876e-01 -1.41686194e-02 -3.48565803e+01] [-5.67566220e-02 -1.98751805e-04 9.98388024e-01 -1.16485772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:-34.86, Z:-11.65 [[ 9.66213082e-01 2.51823663e-01 5.49283359e-02 1.75448861e+02] [-2.51425405e-01 9.67773127e-01 -1.41576864e-02 -3.48631317e+01] [-5.67234078e-02 -1.31037319e-04 9.98389923e-01 -1.16499674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:175.48, Y:-34.87, Z:-11.65 [[ 9.66513595e-01 2.50657195e-01 5.49767406e-02 1.75475647e+02] [-2.50256555e-01 9.68075909e-01 -1.41665233e-02 -3.48687816e+01] [-5.67725991e-02 -6.61523310e-05 9.98387133e-01 -1.16510821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:-34.88, Z:-11.65 [[ 9.66711941e-01 2.50090936e-01 5.40605821e-02 1.75502597e+02] [-2.49702848e-01 9.68222352e-01 -1.39271414e-02 -3.48754015e+01] [-5.58257158e-02 -3.55473989e-05 9.98440528e-01 -1.16536867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:-34.88, Z:-11.66 [[ 9.66802874e-01 2.49702064e-01 5.42317443e-02 1.75530558e+02] [-2.49311146e-01 9.68322714e-01 -1.39668882e-02 -3.48826780e+01] [-5.60013907e-02 -1.73506624e-05 9.98430691e-01 -1.16558639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:-34.89, Z:-11.66 [[ 9.66813206e-01 2.49600893e-01 5.45125480e-02 1.75556949e+02] [-2.49205902e-01 9.68348798e-01 -1.40365425e-02 -3.48895878e+01] [-5.62906939e-02 -1.41340561e-05 9.98414422e-01 -1.16575441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-34.90, Z:-11.66 [[ 9.66858156e-01 2.49301774e-01 5.50811353e-02 1.75584557e+02] [-2.48898239e-01 9.68425849e-01 -1.41788927e-02 -3.48964790e+01] [-5.68768183e-02 -6.19494989e-07 9.98381204e-01 -1.16597126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:-34.90, Z:-11.66 [[ 9.66896331e-01 2.49103734e-01 5.53065555e-02 1.75610983e+02] [-2.48696722e-01 9.68476809e-01 -1.42341461e-02 -3.49034676e+01] [-5.71088953e-02 8.38454549e-06 9.98367955e-01 -1.16614447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:-34.91, Z:-11.66 [[ 9.67122127e-01 2.48148516e-01 5.56516420e-02 1.75638738e+02] [-2.47735043e-01 9.68721998e-01 -1.43191643e-02 -3.49110540e+01] [-5.74642492e-02 6.15187031e-05 9.98347563e-01 -1.16636836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61264000000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:175.67, Y:-34.92, Z:-11.67 [[ 9.67377900e-01 2.47142464e-01 5.56830481e-02 1.75666245e+02] [-2.46727023e-01 9.68979148e-01 -1.43243819e-02 -3.49182843e+01] [-5.74958755e-02 1.18577811e-04 9.98345737e-01 -1.16656155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:-34.92, Z:-11.67 [[ 9.67713971e-01 2.46029651e-01 5.47638621e-02 1.75693770e+02] [-2.45626199e-01 9.69262286e-01 -1.40851476e-02 -3.49248811e+01] [-5.65459101e-02 1.78954765e-04 9.98399984e-01 -1.16687870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-34.93, Z:-11.67 [[ 9.67983068e-01 2.45122349e-01 5.40723002e-02 1.75721067e+02] [-2.44727763e-01 9.69492126e-01 -1.39046419e-02 -3.49319936e+01] [-5.58310078e-02 2.26464900e-04 9.98440207e-01 -1.16705297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:-34.94, Z:-11.67 [[ 9.68246469e-01 2.44060430e-01 5.41597868e-02 1.75749038e+02] [-2.43663115e-01 9.69759983e-01 -1.39233961e-02 -3.49396724e+01] [-5.59201440e-02 2.84536738e-04 9.98435204e-01 -1.16731249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.78, Y:-34.95, Z:-11.67 [[ 9.68580260e-01 2.42516106e-01 5.51200309e-02 1.75776787e+02] [-2.42102223e-01 9.70147306e-01 -1.41674904e-02 -3.49478652e+01] [-5.69103941e-02 3.77669523e-04 9.98379219e-01 -1.16732889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264000000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:175.81, Y:-34.96, Z:-11.67 [[ 9.68760014e-01 2.41611455e-01 5.59279855e-02 1.75805083e+02] [-2.41184011e-01 9.70372978e-01 -1.43720857e-02 -3.49557208e+01] [-5.77434664e-02 4.34166058e-04 9.98331360e-01 -1.16748826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.83, Y:-34.97, Z:-11.68 [[ 9.69129789e-01 2.39779111e-01 5.73884068e-02 1.75833627e+02] [-2.39325910e-01 9.70827312e-01 -1.47458447e-02 -3.49652621e+01] [-5.92499782e-02 5.56104657e-04 9.98243022e-01 -1.16763557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-34.97, Z:-11.68 [[ 9.69384143e-01 2.38690511e-01 5.76300507e-02 1.75861477e+02] [-2.38231658e-01 9.71095490e-01 -1.48062897e-02 -3.49736628e+01] [-5.94984032e-02 6.23679852e-04 9.98228206e-01 -1.16787482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85264000000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:175.89, Y:-34.98, Z:-11.68 [[ 9.69472628e-01 2.38195927e-01 5.81852540e-02 1.75889438e+02] [-2.37727326e-01 9.71216899e-01 -1.49483538e-02 -3.49816193e+01] [-6.00711390e-02 6.59795036e-04 9.98193880e-01 -1.16799560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:-34.99, Z:-11.68 [[ 9.69837512e-01 2.37062595e-01 5.67144226e-02 1.75917500e+02] [-2.36615600e-01 9.71494119e-01 -1.45682920e-02 -3.49906241e+01] [-5.85513251e-02 7.09358957e-04 9.98284147e-01 -1.16830695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:-35.00, Z:-11.69 [[ 9.69911270e-01 2.36865827e-01 5.62735085e-02 1.75945753e+02] [-2.36425512e-01 9.71542109e-01 -1.44536380e-02 -3.49995566e+01] [-5.80956561e-02 7.14253390e-04 9.98310766e-01 -1.16855411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.98, Y:-35.01, Z:-11.69 [[ 9.69926715e-01 2.37042644e-01 5.52535294e-02 1.75975077e+02] [-2.36618556e-01 9.71499002e-01 -1.41897384e-02 -3.50101174e+01] [-5.70423217e-02 6.88996007e-04 9.98371523e-01 -1.16871555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.00, Y:-35.02, Z:-11.69 [[ 9.69863342e-01 2.37404852e-01 5.48090720e-02 1.76003577e+02] [-2.36988038e-01 9.71410570e-01 -1.40774528e-02 -3.50181999e+01] [-5.65841674e-02 6.64111020e-04 9.98397612e-01 -1.16885316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-35.03, Z:-11.69 [[ 9.69804106e-01 2.37792428e-01 5.41734072e-02 1.76032766e+02] [-2.37385886e-01 9.71315788e-01 -1.39133387e-02 -3.50265015e+01] [-5.59279723e-02 6.33210729e-04 9.98434605e-01 -1.16914778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-35.04, Z:-11.69 [[ 9.69539863e-01 2.38941453e-01 5.38464133e-02 1.76061716e+02] [-2.38541578e-01 9.71033812e-01 -1.38293569e-02 -3.50351288e+01] [-5.55910946e-02 5.63504461e-04 9.98453460e-01 -1.16936991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:-35.04, Z:-11.70 [[ 9.69351231e-01 2.39678638e-01 5.39661098e-02 1.76090029e+02] [-2.39278114e-01 9.70852140e-01 -1.38602547e-02 -3.50433485e+01] [-5.57151202e-02 5.22545983e-04 9.98446570e-01 -1.16961823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:-35.05, Z:-11.70 [[ 9.68806712e-01 2.41884358e-01 5.39028099e-02 1.76117702e+02] [-2.41488214e-01 9.70305004e-01 -1.38434587e-02 -3.50529433e+01] [-5.56506823e-02 3.94742474e-04 9.98450222e-01 -1.16987235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:-35.06, Z:-11.70 [[ 9.68435556e-01 2.43356437e-01 5.39464471e-02 1.76146558e+02] [-2.42962008e-01 9.69936879e-01 -1.38532858e-02 -3.50610405e+01] [-5.56959348e-02 3.09077379e-04 9.98447729e-01 -1.17008428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-35.07, Z:-11.70 [[ 9.67518844e-01 2.46890003e-01 5.43379505e-02 1.76173823e+02] [-2.46495457e-01 9.69043505e-01 -1.39525694e-02 -3.50683262e+01] [-5.61005879e-02 1.05315864e-04 9.98425116e-01 -1.17027688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:-35.08, Z:-11.70 [[ 9.66956177e-01 2.49096183e-01 5.42848340e-02 1.76201705e+02] [-2.48705989e-01 9.68478751e-01 -1.39370073e-02 -3.50751309e+01] [-5.60453635e-02 -2.44880014e-05 9.98428223e-01 -1.17042805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-35.08, Z:-11.71 [[ 9.66281939e-01 2.51730833e-01 5.41368790e-02 1.76228935e+02] [-2.51347037e-01 9.67797270e-01 -1.38964425e-02 -3.50811901e+01] [-5.58916867e-02 -1.79262705e-04 9.98436822e-01 -1.17057521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:176.26, Y:-35.08, Z:-11.71 [[ 9.64807752e-01 2.57292720e-01 5.42812790e-02 1.76256600e+02] [-2.56915839e-01 9.66333379e-01 -1.39302346e-02 -3.50847164e+01] [-5.60379597e-02 -5.05721959e-04 9.98428511e-01 -1.17061905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:-35.09, Z:-11.71 [[ 9.64196968e-01 2.59514536e-01 5.45565051e-02 1.76283803e+02] [-2.59137603e-01 9.65738988e-01 -1.39967593e-02 -3.50906356e+01] [-5.63197065e-02 -6.42009030e-04 9.98412579e-01 -1.17101114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:-35.10, Z:-11.71 [[ 9.63228071e-01 2.63016794e-01 5.48985394e-02 1.76311493e+02] [-2.62641028e-01 9.64790876e-01 -1.40803693e-02 -3.50962230e+01] [-5.66689835e-02 -8.56001924e-04 9.98392655e-01 -1.17121392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:-35.10, Z:-11.71 [[ 9.62998393e-01 2.63828968e-01 5.50306383e-02 1.76339264e+02] [-2.63452957e-01 9.64569048e-01 -1.41099915e-02 -3.51016636e+01] [-5.68034749e-02 -9.10085298e-04 9.98384964e-01 -1.17142123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:-35.11, Z:-11.72 [[ 9.62907154e-01 2.64141977e-01 5.51255718e-02 1.76366553e+02] [-2.63765365e-01 9.64483357e-01 -1.41310640e-02 -3.51067825e+01] [-5.69003037e-02 -9.33313998e-04 9.98379429e-01 -1.17163429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:-35.11, Z:-11.72 [[ 9.63132886e-01 2.63321290e-01 5.51084567e-02 1.76394465e+02] [-2.62943801e-01 9.64707784e-01 -1.41226215e-02 -3.51121069e+01] [-5.68823440e-02 -8.88465891e-04 9.98380493e-01 -1.17185305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.42, Y:-35.12, Z:-11.72 [[ 9.63326373e-01 2.62608689e-01 5.51269045e-02 1.76421351e+02] [-2.62230001e-01 9.64902043e-01 -1.41234950e-02 -3.51177405e+01] [-5.69010153e-02 -8.50392979e-04 9.98379463e-01 -1.17190581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:-35.12, Z:-11.72 [[ 9.63887698e-01 2.60437089e-01 5.56150035e-02 1.76449383e+02] [-2.60048423e-01 9.65490540e-01 -1.42420131e-02 -3.51217538e+01] [-5.74049082e-02 -7.34892701e-04 9.98350708e-01 -1.17219340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:-35.13, Z:-11.72 [[ 9.64151444e-01 2.59385491e-01 5.59567700e-02 1.76476144e+02] [-2.58990489e-01 9.65773630e-01 -1.43255773e-02 -3.51274935e+01] [-5.77574198e-02 -6.80245167e-04 9.98330415e-01 -1.17237057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:-35.13, Z:-11.73 [[ 9.64424623e-01 2.58291639e-01 5.63078729e-02 1.76503645e+02] [-2.57890180e-01 9.66066788e-01 -1.44089091e-02 -3.51338217e+01] [-5.81188666e-02 -6.24940750e-04 9.98309474e-01 -1.17257351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:-35.14, Z:-11.73 [[ 9.64902650e-01 2.56428280e-01 5.66340345e-02 1.76530594e+02] [-2.56019195e-01 9.66563121e-01 -1.44880964e-02 -3.51395805e+01] [-5.84555268e-02 -5.19797356e-04 9.98289878e-01 -1.17272654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-35.15, Z:-11.73 [[ 9.65093553e-01 2.55776943e-01 5.63257388e-02 1.76557842e+02] [-2.55371445e-01 9.66735705e-01 -1.44049252e-02 -3.51452850e+01] [-5.81365506e-02 -4.81884888e-04 9.98308524e-01 -1.17288883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:-35.15, Z:-11.73 [[ 9.65398973e-01 2.54684663e-01 5.60405697e-02 1.76585675e+02] [-2.54281616e-01 9.67024068e-01 -1.43286970e-02 -3.51483581e+01] [-5.78418791e-02 -4.17177229e-04 9.98325670e-01 -1.17303594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-35.15, Z:-11.73 [[ 9.65648181e-01 2.53695479e-01 5.62333949e-02 1.76613471e+02] [-2.53288230e-01 9.67284070e-01 -1.43736213e-02 -3.51542517e+01] [-5.80401898e-02 -3.63395797e-04 9.98314181e-01 -1.17327446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:-35.16, Z:-11.73 [[ 9.65893956e-01 2.52775556e-01 5.61549970e-02 1.76641559e+02] [-2.52368155e-01 9.67524894e-01 -1.43489902e-02 -3.51610472e+01] [-5.79584315e-02 -3.12129991e-04 9.98318948e-01 -1.17349088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-35.17, Z:-11.74 [[ 9.66101186e-01 2.52043125e-01 5.58816664e-02 1.76670206e+02] [-2.51638627e-01 9.67715966e-01 -1.42762484e-02 -3.51667669e+01] [-5.76758110e-02 -2.69685280e-04 9.98335328e-01 -1.17371507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-35.17, Z:-11.74 [[ 9.66352085e-01 2.51303959e-01 5.48631717e-02 1.76698020e+02] [-2.50913042e-01 9.67908193e-01 -1.40133924e-02 -3.51699828e+01] [-5.66241344e-02 -2.24014376e-04 9.98395541e-01 -1.17394024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:-35.18, Z:-11.74 [[ 9.66392488e-01 2.51213116e-01 5.45667456e-02 1.76726075e+02] [-2.50826477e-01 9.67931775e-01 -1.39340258e-02 -3.51760309e+01] [-5.63172970e-02 -2.21046738e-04 9.98412897e-01 -1.17411582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:-35.18, Z:-11.74 [[ 9.66367616e-01 2.51283992e-01 5.46807639e-02 1.76754213e+02] [-2.50896002e-01 9.67913376e-01 -1.39604158e-02 -3.51792177e+01] [-5.64342718e-02 -2.28291264e-04 9.98406290e-01 -1.17429199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:-35.19, Z:-11.74 [[ 9.66382401e-01 2.51226940e-01 5.46816232e-02 1.76781789e+02] [-2.50839049e-01 9.67928186e-01 -1.39570491e-02 -3.51861234e+01] [-5.64342711e-02 -2.28439736e-04 9.98406290e-01 -1.17448646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-35.19, Z:-11.75 [[ 9.66370695e-01 2.51252486e-01 5.47710576e-02 1.76809466e+02] [-2.50863551e-01 9.67921554e-01 -1.39765849e-02 -3.51905601e+01] [-5.65257389e-02 -2.33499973e-04 9.98401115e-01 -1.17467622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:-35.20, Z:-11.75 [[ 9.66384573e-01 2.51091315e-01 5.52630893e-02 1.76837027e+02] [-2.50695335e-01 9.67963377e-01 -1.40978867e-02 -3.51952653e+01] [-5.70325035e-02 -2.30218518e-04 9.98372296e-01 -1.17489993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.86, Y:-35.20, Z:-11.75 [[ 9.66595514e-01 2.50287137e-01 5.52219304e-02 1.76864140e+02] [-2.49890670e-01 9.68171635e-01 -1.40832945e-02 -3.51978199e+01] [-5.69891741e-02 -1.86595912e-04 9.98374779e-01 -1.17495007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:176.89, Y:-35.20, Z:-11.75 [[ 9.66760916e-01 2.49742524e-01 5.47905304e-02 1.76891410e+02] [-2.49351639e-01 9.68312267e-01 -1.39682979e-02 -3.52021394e+01] [-5.65428207e-02 -1.58104085e-04 9.98400162e-01 -1.17517022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-35.20, Z:-11.76 [[ 9.67229396e-01 2.47923032e-01 5.47856422e-02 1.76919516e+02] [-2.47529531e-01 9.68779731e-01 -1.39629457e-02 -3.52044624e+01] [-5.65369556e-02 -5.56927841e-05 9.98400506e-01 -1.17556136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-35.21, Z:-11.76 [[ 9.67572556e-01 2.46573017e-01 5.48187579e-02 1.76946313e+02] [-2.46177128e-01 9.69124217e-01 -1.39669097e-02 -3.52097298e+01] [-5.65700489e-02 1.88741309e-05 9.98398632e-01 -1.17574780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:-35.22, Z:-11.76 [[ 9.68082584e-01 2.44672611e-01 5.43270107e-02 1.76972952e+02] [-2.44280989e-01 9.69605743e-01 -1.38383870e-02 -3.52152353e+01] [-5.60616559e-02 1.25645603e-04 9.98427301e-01 -1.17595945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:-35.22, Z:-11.76 [[ 9.69203879e-01 2.40366102e-01 5.35534997e-02 1.76999972e+02] [-2.39979240e-01 9.70682236e-01 -1.36367335e-02 -3.52188048e+01] [-5.52612393e-02 3.65046845e-04 9.98471863e-01 -1.17619031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-35.22, Z:-11.76 [[ 9.69786204e-01 2.38102220e-01 5.31229905e-02 1.77028659e+02] [-2.37718436e-01 9.71239979e-01 -1.35221146e-02 -3.52247145e+01] [-5.48148177e-02 4.85245987e-04 9.98496420e-01 -1.17637254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.06, Y:-35.23, Z:-11.77 [[ 9.70203084e-01 2.36374054e-01 5.32285918e-02 1.77055840e+02] [-2.35986290e-01 9.71661962e-01 -1.35463225e-02 -3.52309031e+01] [-5.49221971e-02 5.81465952e-04 9.98490468e-01 -1.17658186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-35.24, Z:-11.77 [[ 9.70973537e-01 2.33131030e-01 5.34818897e-02 1.77083372e+02] [-2.32734833e-01 9.72445030e-01 -1.36073685e-02 -3.52371911e+01] [-5.51804977e-02 7.65296071e-04 9.98476102e-01 -1.17668512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:-35.24, Z:-11.77 [[ 9.71185468e-01 2.32058602e-01 5.42917332e-02 1.77110175e+02] [-2.31648845e-01 9.72701448e-01 -1.38095969e-02 -3.52423470e+01] [-5.60142833e-02 8.35062548e-04 9.98429618e-01 -1.17684112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:-35.25, Z:-11.77 [[ 9.71504068e-01 2.30451414e-01 5.54255479e-02 1.77138061e+02] [-2.30022109e-01 9.73083378e-01 -1.40914318e-02 -3.52475238e+01] [-5.71810698e-02 9.40781843e-04 9.98363381e-01 -1.17696977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.16, Y:-35.25, Z:-11.77 [[ 9.71673639e-01 2.29704295e-01 5.55542625e-02 1.77164884e+02] [-2.29272010e-01 9.73259971e-01 -1.41200153e-02 -3.52545713e+01] [-5.73121680e-02 9.83009212e-04 9.98355823e-01 -1.17704602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:-35.26, Z:-11.77 [[ 9.71873329e-01 2.28793099e-01 5.58206974e-02 1.77192009e+02] [-2.28355390e-01 9.73474520e-01 -1.41836048e-02 -3.52620276e+01] [-5.75851375e-02 1.03771002e-03 9.98340060e-01 -1.17737546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:177.22, Y:-35.27, Z:-11.77 [[ 9.72179968e-01 2.27638720e-01 5.51971300e-02 1.77220740e+02] [-2.27209131e-01 9.73745052e-01 -1.40208610e-02 -3.52677417e+01] [-5.69396231e-02 1.08950827e-03 9.98377029e-01 -1.17733373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-35.27, Z:-11.78 [[ 9.72260845e-01 2.27333069e-01 5.50320328e-02 1.77247489e+02] [-2.26884974e-01 9.73815975e-01 -1.43407074e-02 -3.52741813e+01] [-5.68511897e-02 1.45696698e-03 9.98381600e-01 -1.17772654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:-35.28, Z:-11.78 [[ 9.72449592e-01 2.26445695e-01 5.53546607e-02 1.77273779e+02] [-2.26035525e-01 9.74023498e-01 -1.36442775e-02 -3.52825759e+01] [-5.70064281e-02 7.56252334e-04 9.98373525e-01 -1.17790368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:-35.29, Z:-11.78 [[ 9.72509151e-01 2.26221228e-01 5.52259620e-02 1.77301308e+02] [-2.25789664e-01 9.74075259e-01 -1.40149075e-02 -3.52911187e+01] [-5.69647128e-02 1.16017441e-03 9.98375518e-01 -1.17810887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:-35.30, Z:-11.78 [[ 9.72637849e-01 2.25734740e-01 5.49494417e-02 1.77328194e+02] [-2.25306862e-01 9.74188090e-01 -1.39421414e-02 -3.52995269e+01] [-5.66783173e-02 1.18016809e-03 9.98391795e-01 -1.17829862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:177.36, Y:-35.31, Z:-11.78 [[ 9.72650231e-01 2.25818711e-01 5.43823314e-02 1.77355768e+02] [-2.25399955e-01 9.74168653e-01 -1.37947692e-02 -3.53083676e+01] [-5.60926795e-02 1.15971038e-03 9.98424893e-01 -1.17831771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.38, Y:-35.32, Z:-11.78 [[ 9.72522455e-01 2.26321087e-01 5.45787560e-02 1.77382966e+02] [-2.25900233e-01 9.74052095e-01 -1.38420064e-02 -3.53159179e+01] [-5.62952896e-02 1.13230829e-03 9.98413521e-01 -1.17849627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-35.33, Z:-11.79 [[ 9.72149489e-01 2.27771115e-01 5.51877641e-02 1.77410030e+02] [-2.27343345e-01 9.73714128e-01 -1.39928817e-02 -3.53262062e+01] [-5.69242798e-02 1.05660187e-03 9.98377939e-01 -1.17888122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53264000000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:177.44, Y:-35.33, Z:-11.79 [[ 9.71953016e-01 2.28757464e-01 5.45651591e-02 1.77436650e+02] [-2.28340997e-01 9.73482949e-01 -1.38324609e-02 -3.53344698e+01] [-5.62825306e-02 9.85039268e-04 9.98414396e-01 -1.17881612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:-35.34, Z:-11.79 [[ 9.71666701e-01 2.30019973e-01 5.43565445e-02 1.77463968e+02] [-2.29608858e-01 9.73185487e-01 -1.37760369e-02 -3.53424918e+01] [-5.60677639e-02 9.04972237e-04 9.98426556e-01 -1.17920814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:-35.35, Z:-11.79 [[ 9.70939976e-01 2.33352707e-01 5.31232296e-02 1.77491122e+02] [-2.32965171e-01 9.72391913e-01 -1.34609144e-02 -3.53514246e+01] [-5.47977396e-02 6.93877645e-04 9.98497234e-01 -1.17941868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.52, Y:-35.36, Z:-11.80 [[ 9.70525171e-01 2.35116476e-01 5.29257453e-02 1.77518166e+02] [-2.34734532e-01 9.71967023e-01 -1.34091563e-02 -3.53598842e+01] [-5.45947927e-02 5.90423649e-04 9.98508418e-01 -1.17952046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:-35.37, Z:-11.80 [[ 9.69605278e-01 2.38846407e-01 5.30848214e-02 1.77545740e+02] [-2.38468133e-01 9.71057286e-01 -1.34423254e-02 -3.53690056e+01] [-5.47590537e-02 3.74711404e-04 9.98499527e-01 -1.17975718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:-35.38, Z:-11.80 [[ 9.69195933e-01 2.40447682e-01 5.33306243e-02 1.77572317e+02] [-2.40068458e-01 9.70662059e-01 -1.35019794e-02 -3.53761715e+01] [-5.50125332e-02 2.83062812e-04 9.98485624e-01 -1.17993430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-35.38, Z:-11.80 [[ 9.68884716e-01 2.41721072e-01 5.32290394e-02 1.77600474e+02] [-2.41345431e-01 9.70345753e-01 -1.34722878e-02 -3.53841319e+01] [-5.49071081e-02 2.06508268e-04 9.98491446e-01 -1.18014211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264000000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:177.63, Y:-35.39, Z:-11.80 [[ 9.68398796e-01 2.43812903e-01 5.25265752e-02 1.77626805e+02] [-2.43450326e-01 9.69822283e-01 -1.32920045e-02 -3.53942122e+01] [-5.41822053e-02 8.43492501e-05 9.98531062e-01 -1.18011886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-35.40, Z:-11.80 [[ 9.68079842e-01 2.45027469e-01 5.27537569e-02 1.77654318e+02] [-2.44663742e-01 9.69516137e-01 -1.33459391e-02 -3.54027366e+01] [-5.44157402e-02 1.30029934e-05 9.98518366e-01 -1.18047346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:177.68, Y:-35.41, Z:-11.80 [[ 9.67299761e-01 2.48082837e-01 5.27833157e-02 1.77680489e+02] [-2.47723350e-01 9.68738809e-01 -1.33514693e-02 -3.54093784e+01] [-5.44455167e-02 -1.60786712e-04 9.98516730e-01 -1.18048333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:-35.42, Z:-11.81 [[ 9.66872726e-01 2.49649973e-01 5.32167450e-02 1.77707552e+02] [-2.49287279e-01 9.68336112e-01 -1.34546501e-02 -3.54160194e+01] [-5.48906489e-02 -2.57323337e-04 9.98492339e-01 -1.18081178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:-35.42, Z:-11.81 [[ 9.66031532e-01 2.52753881e-01 5.38382199e-02 1.77734928e+02] [-2.52387709e-01 9.67530506e-01 -1.36075253e-02 -3.54229174e+01] [-5.55294750e-02 -4.42806526e-04 9.98456950e-01 -1.18103422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-35.43, Z:-11.81 [[ 9.65729993e-01 2.53897906e-01 5.38649626e-02 1.77761869e+02] [-2.53533392e-01 9.67230888e-01 -1.36098792e-02 -3.54294191e+01] [-5.55553754e-02 -5.13098097e-04 9.98455476e-01 -1.18121165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:-35.44, Z:-11.81 [[ 9.65577422e-01 2.54455605e-01 5.39683845e-02 1.77787970e+02] [-2.54090740e-01 9.67084300e-01 -1.36327763e-02 -3.54350757e+01] [-5.56609137e-02 -5.49365731e-04 9.98449579e-01 -1.18139837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-35.44, Z:-11.82 [[ 9.65667626e-01 2.54030731e-01 5.43546132e-02 1.77815175e+02] [-2.53660235e-01 9.67196000e-01 -1.37252475e-02 -3.54427953e+01] [-5.60581992e-02 -5.33576774e-04 9.98427360e-01 -1.18161437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:-35.45, Z:-11.82 [[ 9.65865049e-01 2.53319148e-01 5.41674949e-02 1.77841881e+02] [-2.52950326e-01 9.67382636e-01 -1.36736184e-02 -3.54503895e+01] [-5.58644833e-02 -4.94815363e-04 9.98438238e-01 -1.18179388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:-35.46, Z:-11.82 [[ 9.66147795e-01 2.52244899e-01 5.41382415e-02 1.77868325e+02] [-2.51874956e-01 9.67663331e-01 -1.36632872e-02 -3.54568695e+01] [-5.58340856e-02 -4.35312368e-04 9.98439966e-01 -1.18194867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:-35.46, Z:-11.82 [[ 9.66261666e-01 2.51832912e-01 5.40238570e-02 1.77895822e+02] [-2.51464244e-01 9.67770640e-01 -1.36280246e-02 -3.54626826e+01] [-5.57146877e-02 -4.16830602e-04 9.98446643e-01 -1.18216405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:-35.47, Z:-11.82 [[ 9.66273852e-01 2.51883648e-01 5.35674454e-02 1.77922888e+02] [-2.51521504e-01 9.67757434e-01 -1.35085857e-02 -3.54684299e+01] [-5.52428853e-02 -4.20371231e-04 9.98472857e-01 -1.18232537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-35.47, Z:-11.83 [[ 9.66027052e-01 2.52845515e-01 5.34871995e-02 1.77949922e+02] [-2.52486111e-01 9.67506546e-01 -1.34850398e-02 -3.54737922e+01] [-5.51588475e-02 -4.77861794e-04 9.98477478e-01 -1.18252739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:-35.48, Z:-11.83 [[ 9.65954329e-01 2.53236274e-01 5.29492567e-02 1.77976501e+02] [-2.52884867e-01 9.67404332e-01 -1.33455469e-02 -3.54813130e+01] [-5.46029169e-02 -4.98876951e-04 9.98508023e-01 -1.18273349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:-35.49, Z:-11.83 [[ 9.65942591e-01 2.53111377e-01 5.37544488e-02 1.78003151e+02] [-2.52749252e-01 9.67437014e-01 -1.35439572e-02 -3.54896055e+01] [-5.54321731e-02 -5.03711620e-04 9.98462328e-01 -1.18291692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:-35.50, Z:-11.83 [[ 9.66020579e-01 2.52662304e-01 5.44610055e-02 1.78029203e+02] [-2.52290047e-01 9.67554403e-01 -1.37189421e-02 -3.54952774e+01] [-5.61602452e-02 -4.87189214e-04 9.98421649e-01 -1.18303218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:-35.50, Z:-11.83 [[ 9.66236427e-01 2.51851832e-01 5.43858684e-02 1.78056647e+02] [-2.51479711e-01 9.67765703e-01 -1.36930405e-02 -3.55007796e+01] [-5.60813955e-02 -4.46227933e-04 9.98426100e-01 -1.18320486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:-35.51, Z:-11.83 [[ 9.66672592e-01 2.50232718e-01 5.41081080e-02 1.78084311e+02] [-2.49862088e-01 9.68185654e-01 -1.36189442e-02 -3.55070946e+01] [-5.57945993e-02 -3.54504794e-04 9.98442205e-01 -1.18344445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:-35.51, Z:-11.84 [[ 9.66838750e-01 2.49557263e-01 5.42586803e-02 1.78111721e+02] [-2.49183741e-01 9.68359990e-01 -1.36525895e-02 -3.55144113e+01] [-5.59490380e-02 -3.20528404e-04 9.98433574e-01 -1.18369445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:-35.52, Z:-11.84 [[ 9.66987105e-01 2.48995924e-01 5.41937994e-02 1.78138711e+02] [-2.48622657e-01 9.68504489e-01 -1.36319353e-02 -3.55222209e+01] [-5.58812343e-02 -2.91900731e-04 9.98437380e-01 -1.18391093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.17, Y:-35.53, Z:-11.84 [[ 9.67179253e-01 2.48409647e-01 5.34503521e-02 1.78165850e+02] [-2.48045843e-01 9.68655037e-01 -1.34416834e-02 -3.55303858e+01] [-5.51139966e-02 -2.57620321e-04 9.98480035e-01 -1.18395357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:-35.54, Z:-11.84 [[ 9.67222057e-01 2.48293066e-01 5.32169721e-02 1.78192358e+02] [-2.47932496e-01 9.68684928e-01 -1.33786593e-02 -3.55376041e+01] [-5.48723071e-02 -2.54082321e-04 9.98493348e-01 -1.18424492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-35.55, Z:-11.84 [[ 9.67261972e-01 2.48174273e-01 5.30453432e-02 1.78219704e+02] [-2.47816028e-01 9.68715370e-01 -1.33322387e-02 -3.55451440e+01] [-5.46945579e-02 -2.49718764e-04 9.98503101e-01 -1.18444285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.25, Y:-35.55, Z:-11.85 [[ 9.67269001e-01 2.48055210e-01 5.34723540e-02 1.78246605e+02] [-2.47691230e-01 9.68745865e-01 -1.34351870e-02 -3.55518471e+01] [-5.51337900e-02 -2.49193166e-04 9.98478945e-01 -1.18461571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264000000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:178.27, Y:-35.56, Z:-11.85 [[ 9.67268053e-01 2.48023711e-01 5.36353695e-02 1.78273601e+02] [-2.47657641e-01 9.68753929e-01 -1.34728196e-02 -3.55589346e+01] [-5.53010536e-02 -2.51381137e-04 9.98469694e-01 -1.18475466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:-35.57, Z:-11.85 [[ 9.67375510e-01 2.47520109e-01 5.40223951e-02 1.78300386e+02] [-2.47148177e-01 9.68882730e-01 -1.35659487e-02 -3.55667527e+01] [-5.56992107e-02 -2.28169911e-04 9.98447568e-01 -1.18504982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:-35.58, Z:-11.85 [[ 9.67494962e-01 2.47093201e-01 5.38372423e-02 1.78327030e+02] [-2.46723378e-01 9.68991696e-01 -1.35154536e-02 -3.55768431e+01] [-5.55074175e-02 -2.06773036e-04 9.98458253e-01 -1.18523723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:-35.58, Z:-11.85 [[ 9.67593645e-01 2.46900047e-01 5.29424706e-02 1.78354343e+02] [-2.46542364e-01 9.69040932e-01 -1.32866291e-02 -3.55849740e+01] [-5.45838904e-02 -1.96504001e-04 9.98509169e-01 -1.18539577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:-35.59, Z:-11.86 [[ 9.67625637e-01 2.46769636e-01 5.29657729e-02 1.78381206e+02] [-2.46411572e-01 9.69074151e-01 -1.32901121e-02 -3.55925408e+01] [-5.46073576e-02 -1.91526205e-04 9.98507887e-01 -1.18560027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.41, Y:-35.60, Z:-11.86 [[ 9.67579502e-01 2.46966550e-01 5.28907393e-02 1.78408580e+02] [-2.46610033e-01 9.69023983e-01 -1.32669235e-02 -3.56002594e+01] [-5.45288813e-02 -2.06583703e-04 9.98512172e-01 -1.18563253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.44, Y:-35.61, Z:-11.86 [[ 9.67478385e-01 2.47349300e-01 5.29518506e-02 1.78435077e+02] [-2.46992673e-01 9.68926349e-01 -1.32796387e-02 -3.56074233e+01] [-5.45911526e-02 -2.30955787e-04 9.98508764e-01 -1.18591784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.46, Y:-35.62, Z:-11.86 [[ 9.67022214e-01 2.48879481e-01 5.41021404e-02 1.78463043e+02] [-2.48509783e-01 9.68534406e-01 -1.35643412e-02 -3.56154921e+01] [-5.57756707e-02 -3.27891888e-04 9.98443272e-01 -1.18592213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:-35.62, Z:-11.86 [[ 9.66505362e-01 2.50827856e-01 5.43394070e-02 1.78489057e+02] [-2.50458135e-01 9.68031605e-01 -1.36210897e-02 -3.56241147e+01] [-5.60188121e-02 -4.44890322e-04 9.98429614e-01 -1.18619408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-35.63, Z:-11.86 [[ 9.66519990e-01 2.50771299e-01 5.43402596e-02 1.78516664e+02] [-2.50401680e-01 9.68046258e-01 -1.36176871e-02 -3.56308993e+01] [-5.60188101e-02 -4.45125526e-04 9.98429614e-01 -1.18638854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:-35.64, Z:-11.87 [[ 9.66180808e-01 2.52044896e-01 5.44795144e-02 1.78543411e+02] [-2.51675582e-01 9.67715401e-01 -1.36493449e-02 -3.56373551e+01] [-5.61609128e-02 -5.23428491e-04 9.98421593e-01 -1.18656677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.57, Y:-35.64, Z:-11.87 [[ 9.65873294e-01 2.53281475e-01 5.41966273e-02 1.78571659e+02] [-2.52918176e-01 9.67392443e-01 -1.35741514e-02 -3.56435964e+01] [-5.58674887e-02 -5.96401802e-04 9.98438014e-01 -1.18678564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.60, Y:-35.65, Z:-11.87 [[ 9.65384791e-01 2.55191581e-01 5.39394244e-02 1.78598811e+02] [-2.54834846e-01 9.66890251e-01 -1.35071455e-02 -3.56495840e+01] [-5.56004135e-02 -7.06052047e-04 9.98452851e-01 -1.18692513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85264000000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:178.63, Y:-35.66, Z:-11.87 [[ 9.65195835e-01 2.55961342e-01 5.36730134e-02 1.78625819e+02] [-2.55609524e-01 9.66686727e-01 -1.34366159e-02 -3.56556456e+01] [-5.53242439e-02 -7.50367722e-04 9.98468159e-01 -1.18707625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:-35.66, Z:-11.87 [[ 9.65033114e-01 2.56607977e-01 5.35110775e-02 1.78653785e+02] [-2.56259453e-01 9.66515248e-01 -1.33928238e-02 -3.56594511e+01] [-5.51559777e-02 -7.88201008e-04 9.98477439e-01 -1.18741591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:-35.66, Z:-11.88 [[ 9.65022975e-01 2.56624654e-01 5.36138515e-02 1.78680815e+02] [-2.56275046e-01 9.66510815e-01 -1.34143793e-02 -3.56645470e+01] [-5.52608278e-02 -7.94708052e-04 9.98471637e-01 -1.18757437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:-35.67, Z:-11.88 [[ 9.65006571e-01 2.56593576e-01 5.40560260e-02 1.78708576e+02] [-2.56238359e-01 9.66519059e-01 -1.35208105e-02 -3.56702975e+01] [-5.57155325e-02 -8.03556366e-04 9.98446360e-01 -1.18769901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-35.67, Z:-11.88 [[ 9.64975230e-01 2.56464562e-01 5.52153464e-02 1.78736798e+02] [-2.56093989e-01 9.66553289e-01 -1.38061314e-02 -3.56727687e+01] [-5.69093581e-02 -8.17743504e-04 9.98379014e-01 -1.18776227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-35.68, Z:-11.88 [[ 9.64973394e-01 2.56346651e-01 5.57919625e-02 1.78763473e+02] [-2.55968296e-01 9.66584563e-01 -1.39468102e-02 -3.56765346e+01] [-5.75028677e-02 -8.22672833e-04 9.98345002e-01 -1.18798016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:-35.68, Z:-11.88 [[ 9.64900148e-01 2.56709293e-01 5.53899263e-02 1.78792228e+02] [-2.56337257e-01 9.66488297e-01 -1.38413257e-02 -3.56781661e+01] [-5.70869125e-02 -8.43004615e-04 9.98368857e-01 -1.18818401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:-35.68, Z:-11.88 [[ 9.64856967e-01 2.56949497e-01 5.50271579e-02 1.78820425e+02] [-2.56582946e-01 9.66424453e-01 -1.37465661e-02 -3.56819054e+01] [-5.67117643e-02 -8.55560212e-04 9.98390226e-01 -1.18838627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:-35.69, Z:-11.89 [[ 9.64876359e-01 2.56830314e-01 5.52431175e-02 1.78848123e+02] [-2.56460919e-01 9.66456133e-01 -1.37963576e-02 -3.56850389e+01] [-5.69333725e-02 -8.55921424e-04 9.98377613e-01 -1.18859086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:-35.69, Z:-11.89 [[ 9.65311434e-01 2.55291178e-01 5.47745447e-02 1.78876006e+02] [-2.54925784e-01 9.66863917e-01 -1.36752135e-02 -3.56850689e+01] [-5.64506921e-02 -7.62603840e-04 9.98405097e-01 -1.18886070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:-35.69, Z:-11.89 [[ 9.66568109e-01 2.50662306e-01 5.39860965e-02 1.78903388e+02] [-2.50300413e-01 9.68074464e-01 -1.34734962e-02 -3.56868377e+01] [-5.56398591e-02 -4.89690446e-04 9.98450783e-01 -1.18908987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:-35.69, Z:-11.89 [[ 9.67470966e-01 2.47199303e-01 5.37813627e-02 1.78930731e+02] [-2.46835069e-01 9.68964611e-01 -1.34175533e-02 -3.56910032e+01] [-5.54290470e-02 -2.94033095e-04 9.98462585e-01 -1.18926459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:-35.70, Z:-11.89 [[ 9.68442211e-01 2.43377851e-01 5.37299336e-02 1.78956834e+02] [-2.43008656e-01 9.69931552e-01 -1.34006646e-02 -3.56956897e+01] [-5.53757828e-02 -7.90696678e-05 9.98465581e-01 -1.18942701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.98, Y:-35.70, Z:-11.90 [[ 9.70436751e-01 2.35465188e-01 5.29967637e-02 1.78984576e+02] [-2.35094463e-01 9.71882716e-01 -1.32128799e-02 -3.57007748e+01] [-5.46178119e-02 3.63018527e-04 9.98507267e-01 -1.18960415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:-35.71, Z:-11.90 [[ 9.71318779e-01 2.31820009e-01 5.29085345e-02 1.79011590e+02] [-2.31445345e-01 9.72758535e-01 -1.31865826e-02 -3.57072891e+01] [-5.45241422e-02 5.62941310e-04 9.98512294e-01 -1.18982325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:-35.71, Z:-11.90 [[ 9.72621649e-01 2.26334128e-01 5.27256155e-02 1.79039869e+02] [-2.25954182e-01 9.74049339e-01 -1.31374397e-02 -3.57137779e+01] [-5.43308019e-02 8.64184947e-04 9.98522617e-01 -1.18992484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-35.72, Z:-11.90 [[ 9.72999011e-01 2.24732632e-01 5.26133967e-02 1.79068344e+02] [-2.24352109e-01 9.74420004e-01 -1.31067818e-02 -3.57204198e+01] [-5.42130678e-02 9.48959251e-04 9.98528939e-01 -1.19010838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-35.73, Z:-11.90 [[ 9.73185273e-01 2.24007417e-01 5.22599360e-02 1.79095998e+02] [-2.23631094e-01 9.74586947e-01 -1.30160468e-02 -3.57272873e+01] [-5.38475425e-02 9.80078415e-04 9.98548688e-01 -1.19027096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:-35.73, Z:-11.91 [[ 9.73257606e-01 2.23958917e-01 5.11080720e-02 1.79122271e+02] [-2.23599080e-01 9.74598114e-01 -1.27266127e-02 -3.57347975e+01] [-5.26600690e-02 9.58554738e-04 9.98612036e-01 -1.19051789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:-35.74, Z:-11.91 [[ 9.73138597e-01 2.24624209e-01 5.04503416e-02 1.79148832e+02] [-2.24274575e-01 9.74445042e-01 -1.25608954e-02 -3.57409732e+01] [-5.19825664e-02 9.08763221e-04 9.98647579e-01 -1.19065810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.18, Y:-35.75, Z:-11.91 [[ 9.72658035e-01 2.26642447e-01 5.06907055e-02 1.79176205e+02] [-2.26292452e-01 9.73977700e-01 -1.26160820e-02 -3.57472917e+01] [-5.22309565e-02 8.00209551e-04 9.98634711e-01 -1.19082271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.20, Y:-35.75, Z:-11.91 [[ 9.72396052e-01 2.27800567e-01 5.05254309e-02 1.79202464e+02] [-2.27454608e-01 9.73707536e-01 -1.25712247e-02 -3.57540521e+01] [-5.20607249e-02 7.31967254e-04 9.98643653e-01 -1.19092372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:-35.76, Z:-11.91 [[ 9.72054072e-01 2.29244256e-01 5.05761936e-02 1.79229619e+02] [-2.28899813e-01 9.73368711e-01 -1.25788581e-02 -3.57614875e+01] [-5.21129154e-02 6.50448960e-04 9.98640987e-01 -1.19120501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.26, Y:-35.77, Z:-11.91 [[ 9.71029114e-01 2.33304147e-01 5.16878516e-02 1.79256198e+02] [-2.32950292e-01 9.72403714e-01 -1.28522109e-02 -3.57688354e+01] [-5.32599329e-02 4.39170806e-04 9.98580586e-01 -1.19130779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-35.78, Z:-11.91 [[ 9.70437903e-01 2.35743321e-01 5.17239119e-02 1.79282747e+02] [-2.35392634e-01 9.71815309e-01 -1.28573892e-02 -3.57752739e+01] [-5.32971331e-02 3.01869944e-04 9.98578652e-01 -1.19143017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:-35.78, Z:-11.92 [[ 9.68901818e-01 2.41917394e-01 5.20119478e-02 1.79310549e+02] [-2.41571922e-01 9.70296848e-01 -1.29241561e-02 -3.57805195e+01] [-5.35936071e-02 -4.23878222e-05 9.98562829e-01 -1.19153068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:-35.79, Z:-11.92 [[ 9.68038591e-01 2.45332045e-01 5.20910259e-02 1.79336678e+02] [-2.44990664e-01 9.69439081e-01 -1.29399496e-02 -3.57862570e+01] [-5.36736606e-02 -2.35444431e-04 9.98558502e-01 -1.19173167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:-35.79, Z:-11.92 [[ 9.66339816e-01 2.52114973e-01 5.12386585e-02 1.79363941e+02] [-2.51794439e-01 9.67697098e-01 -1.27235095e-02 -3.57920459e+01] [-5.27912884e-02 -6.06375501e-04 9.98605384e-01 -1.19196830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:-35.80, Z:-11.92 [[ 9.65593743e-01 2.54968417e-01 5.11842740e-02 1.79390134e+02] [-2.54652726e-01 9.66949079e-01 -1.27069724e-02 -3.57968967e+01] [-5.27324633e-02 -7.64441849e-04 9.98608383e-01 -1.19218865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-35.80, Z:-11.92 [[ 9.64822091e-01 2.57852075e-01 5.12897669e-02 1.79418068e+02] [-2.57539588e-01 9.66183957e-01 -1.27248466e-02 -3.58018100e+01] [-5.28364780e-02 -9.31932309e-04 9.98602743e-01 -1.19238465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:-35.80, Z:-11.93 [[ 9.63557107e-01 2.62558336e-01 5.11939706e-02 1.79446208e+02] [-2.62253842e-01 9.64915385e-01 -1.26972917e-02 -3.58049113e+01] [-5.27316296e-02 -1.19124979e-03 9.98608009e-01 -1.19260170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.47, Y:-35.81, Z:-11.93 [[ 9.63182649e-01 2.63938393e-01 5.11440048e-02 1.79473024e+02] [-2.63636600e-01 9.64538706e-01 -1.26817839e-02 -3.58097286e+01] [-5.26775819e-02 -1.26855731e-03 9.98610767e-01 -1.19279041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.50, Y:-35.81, Z:-11.93 [[ 9.62922875e-01 2.64858505e-01 5.12787440e-02 1.79499951e+02] [-2.64556862e-01 9.64286369e-01 -1.27068586e-02 -3.58140149e+01] [-5.28129134e-02 -1.33041883e-03 9.98603538e-01 -1.19295948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.53, Y:-35.82, Z:-11.93 [[ 9.62803717e-01 2.65454186e-01 5.04289371e-02 1.79528404e+02] [-2.65163517e-01 9.64122537e-01 -1.24917047e-02 -3.58165185e+01] [-5.19356501e-02 -1.34485459e-03 9.98649528e-01 -1.19318624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:-35.82, Z:-11.93 [[ 9.63068313e-01 2.64568742e-01 5.00280494e-02 1.79554430e+02] [-2.64281680e-01 9.64365966e-01 -1.23886149e-02 -3.58215035e+01] [-5.15229884e-02 -1.29041445e-03 9.98670975e-01 -1.19349801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.58, Y:-35.83, Z:-11.94 [[ 9.63873943e-01 2.61591521e-01 5.01686992e-02 1.79580816e+02] [-2.61299057e-01 9.65178004e-01 -1.24187047e-02 -3.58260307e+01] [-5.16703528e-02 -1.13896789e-03 9.98663546e-01 -1.19366181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-35.83, Z:-11.94 [[ 9.64475856e-01 2.59347477e-01 5.02514591e-02 1.79607060e+02] [-2.59051239e-01 9.65783535e-01 -1.24346009e-02 -3.58311712e+01] [-5.17569142e-02 -1.02483042e-03 9.98659187e-01 -1.19389291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.63, Y:-35.84, Z:-11.94 [[ 9.65119161e-01 2.56898611e-01 5.04787926e-02 1.79634738e+02] [-2.56596582e-01 9.66437939e-01 -1.24861571e-02 -3.58364314e+01] [-5.19922967e-02 -9.02056166e-04 9.98647078e-01 -1.19408532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:-35.84, Z:-11.94 [[ 9.66374055e-01 2.52049312e-01 5.09149305e-02 1.79662108e+02] [-2.51735508e-01 9.67714173e-01 -1.25901758e-02 -3.58400162e+01] [-5.24444450e-02 -6.50276637e-04 9.98623631e-01 -1.19424787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:-35.85, Z:-11.94 [[ 9.66952900e-01 2.49790596e-01 5.10563078e-02 1.79689680e+02] [-2.49472154e-01 9.68299733e-01 -1.26202683e-02 -3.58452768e+01] [-5.25902336e-02 -5.33922083e-04 9.98616033e-01 -1.19442540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:-35.85, Z:-11.95 [[ 9.67720805e-01 2.46711214e-01 5.14783559e-02 1.79716744e+02] [-2.46383335e-01 9.69088973e-01 -1.27206492e-02 -3.58487092e+01] [-5.30254338e-02 -3.73372165e-04 9.98593092e-01 -1.19461875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:179.74, Y:-35.85, Z:-11.95 [[ 9.67864667e-01 2.46212963e-01 5.11582205e-02 1.79744612e+02] [-2.45888713e-01 9.69215691e-01 -1.26366695e-02 -3.58539680e+01] [-5.26946619e-02 -3.48643146e-04 9.98610610e-01 -1.19477772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11264000000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:179.77, Y:-35.86, Z:-11.95 [[ 9.67948169e-01 2.45999594e-01 5.06017918e-02 1.79771133e+02] [-2.45682223e-01 9.69269873e-01 -1.24963339e-02 -3.58589159e+01] [-5.21208853e-02 -3.36157211e-04 9.98640726e-01 -1.19499970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:-35.86, Z:-11.95 [[ 9.67911511e-01 2.46217410e-01 5.02423575e-02 1.79798291e+02] [-2.45905195e-01 9.69214560e-01 -1.24004801e-02 -3.58618308e+01] [-5.17488385e-02 -3.52289339e-04 9.98660069e-01 -1.19515117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17264000000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:179.83, Y:-35.86, Z:-11.95 [[ 9.67754869e-01 2.46844303e-01 5.01836979e-02 1.79826856e+02] [-2.46534077e-01 9.69055074e-01 -1.23779276e-02 -3.58639291e+01] [-5.16861880e-02 -3.93192003e-04 9.98663298e-01 -1.19530279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:-35.87, Z:-11.96 [[ 9.67890680e-01 2.46041364e-01 5.14905734e-02 1.79853801e+02] [-2.45858305e-01 9.69254622e-01 -9.95846712e-03 -3.58692529e+01] [-5.23576712e-02 -3.02067758e-03 9.98623828e-01 -1.19551514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:-35.87, Z:-11.96 [[ 9.68079683e-01 2.45551659e-01 5.02604261e-02 1.79882442e+02] [-2.45093040e-01 9.69380571e-01 -1.51891821e-02 -3.58703684e+01] [-5.24512094e-02 2.38585795e-03 9.98620638e-01 -1.19555805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:-35.87, Z:-11.96 [[ 9.68842742e-01 2.41978136e-01 5.28235089e-02 1.79910264e+02] [-2.41628113e-01 9.70281689e-01 -1.30114589e-02 -3.58742382e+01] [-5.44021720e-02 -1.57587314e-04 9.98519093e-01 -1.19568156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.94, Y:-35.88, Z:-11.96 [[ 9.69344085e-01 2.39754749e-01 5.37559767e-02 1.79937006e+02] [-2.39389061e-01 9.70833487e-01 -1.32370152e-02 -3.58797690e+01] [-5.53617395e-02 -3.73703719e-05 9.98466362e-01 -1.19591950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-35.88, Z:-11.96 [[ 9.70565041e-01 2.34879845e-01 5.32443399e-02 1.79962324e+02] [-2.34427566e-01 9.72022817e-01 -1.46751466e-02 -3.58848758e+01] [-5.52016094e-02 1.76124325e-03 9.98473675e-01 -1.19607486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-35.89, Z:-11.96 [[ 9.71297896e-01 2.31638276e-01 5.40750080e-02 1.79991473e+02] [-2.31350534e-01 9.72801204e-01 -1.16080775e-02 -3.58930993e+01] [-5.52931080e-02 -1.23538078e-03 9.98469402e-01 -1.19636321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-35.90, Z:-11.97 [[ 9.71820506e-01 2.29711717e-01 5.28907540e-02 1.80018602e+02] [-2.29343572e-01 9.73258580e-01 -1.30100946e-02 -3.58981945e+01] [-5.44649513e-02 5.13322299e-04 9.98515551e-01 -1.19655621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:-35.90, Z:-11.97 [[ 9.72595449e-01 2.26654950e-01 5.18230197e-02 1.80046042e+02] [-2.26297401e-01 9.73974891e-01 -1.27435264e-02 -3.59044520e+01] [-5.33627034e-02 6.66881079e-04 9.98574973e-01 -1.19686961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:-35.91, Z:-11.97 [[ 9.73098186e-01 2.24815514e-01 5.03776352e-02 1.80072812e+02] [-2.24475368e-01 9.74401064e-01 -1.23845104e-02 -3.59103231e+01] [-5.18722514e-02 7.42806363e-04 9.98653452e-01 -1.19704167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:-35.92, Z:-11.97 [[ 9.73271537e-01 2.24155201e-01 4.99695995e-02 1.80098821e+02] [-2.23819907e-01 9.74553158e-01 -1.22797485e-02 -3.59172805e+01] [-5.14506004e-02 7.67338593e-04 9.98675246e-01 -1.19727404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.13, Y:-35.92, Z:-11.97 [[ 9.73365768e-01 2.23722894e-01 5.00714341e-02 1.80125960e+02] [-2.23385902e-01 9.74652475e-01 -1.23000725e-02 -3.59249045e+01] [-5.15540550e-02 7.87217044e-04 9.98669895e-01 -1.19743790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:-35.93, Z:-11.98 [[ 9.73515456e-01 2.22762630e-01 5.14243840e-02 1.80151604e+02] [-2.22532356e-01 9.74871591e-01 -1.02338958e-02 -3.59346895e+01] [-5.24119005e-02 -1.48073354e-03 9.98624454e-01 -1.19761133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:-35.94, Z:-11.98 [[ 9.73675891e-01 2.22435699e-01 4.97756893e-02 1.80180449e+02] [-2.21982018e-01 9.74942426e-01 -1.45344185e-02 -3.59398670e+01] [-5.17614048e-02 3.10250491e-03 9.98654661e-01 -1.19771248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:-35.95, Z:-11.98 [[ 9.73555036e-01 2.22765165e-01 5.06584030e-02 1.80207113e+02] [-2.22419830e-01 9.74871782e-01 -1.24269053e-02 -3.59481962e+01] [-5.21537292e-02 8.30842805e-04 9.98638723e-01 -1.19777457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:-35.95, Z:-11.98 [[ 9.73568869e-01 2.22704480e-01 5.06593809e-02 1.80234747e+02] [-2.22359271e-01 9.74885648e-01 -1.24229172e-02 -3.59548500e+01] [-5.21537427e-02 8.29982450e-04 9.98638723e-01 -1.19796876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:-35.96, Z:-11.98 [[ 9.73390917e-01 2.23345676e-01 5.12526304e-02 1.80261241e+02] [-2.22993376e-01 9.74738973e-01 -1.25653528e-02 -3.59607882e+01] [-5.27643536e-02 8.02003183e-04 9.98606669e-01 -1.19812651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:-35.97, Z:-11.98 [[ 9.73051173e-01 2.24803969e-01 5.13282499e-02 1.80287877e+02] [-2.24452917e-01 9.74403745e-01 -1.25789368e-02 -3.59699373e+01] [-5.28422339e-02 7.19173749e-04 9.98602614e-01 -1.19829994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:-35.98, Z:-11.99 [[ 9.72868136e-01 2.25195675e-01 5.30518319e-02 1.80313180e+02] [-2.24943555e-01 9.74312446e-01 -1.07542333e-02 -3.59796327e+01] [-5.41108670e-02 -1.47121676e-03 9.98533850e-01 -1.19853414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:-35.99, Z:-11.99 [[ 9.72752209e-01 2.25903751e-01 5.21597094e-02 1.80341704e+02] [-2.25423682e-01 9.74145542e-01 -1.49875709e-02 -3.59857388e+01] [-5.41968968e-02 2.82115892e-03 9.98526283e-01 -1.19864589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:-36.00, Z:-11.99 [[ 9.72657790e-01 2.25811561e-01 5.42767269e-02 1.80366628e+02] [-2.25629726e-01 9.74166468e-01 -9.53521216e-03 -3.59975025e+01] [-5.50277284e-02 -2.97194463e-03 9.98480404e-01 -1.19886369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:-36.00, Z:-11.99 [[ 9.72772973e-01 2.25961802e-01 5.15170467e-02 1.80394885e+02] [-2.25415485e-01 9.74127109e-01 -1.62553046e-02 -3.60018832e+01] [-5.38572297e-02 4.19998089e-03 9.98539813e-01 -1.19899546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:-36.02, Z:-11.99 [[ 9.73108776e-01 2.24326560e-01 5.23154263e-02 1.80419438e+02] [-2.23962778e-01 9.74513756e-01 -1.27911321e-02 -3.60150233e+01] [-5.38514932e-02 7.30454725e-04 9.98548688e-01 -1.19922996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:-36.02, Z:-11.99 [[ 9.73343134e-01 2.23441280e-01 5.17410709e-02 1.80445689e+02] [-2.23084575e-01 9.74717093e-01 -1.26436324e-02 -3.60239789e+01] [-5.32580156e-02 7.63957996e-04 9.98580493e-01 -1.19945429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.47, Y:-36.03, Z:-12.00 [[ 9.73506320e-01 2.22797892e-01 5.14445724e-02 1.80471131e+02] [-2.22476130e-01 9.74864635e-01 -1.19714635e-02 -3.60336182e+01] [-5.28187111e-02 2.09105983e-04 9.98604096e-01 -1.19971627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:-36.05, Z:-12.00 [[ 9.73896088e-01 2.21322336e-01 5.04265126e-02 1.80496665e+02] [-2.20952027e-01 9.75199711e-01 -1.28734382e-02 -3.60463803e+01] [-5.20250999e-02 1.39555087e-03 9.98644802e-01 -1.19990001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:-36.06, Z:-12.00 [[ 9.74013094e-01 2.20794646e-01 5.04798624e-02 1.80522407e+02] [-2.20452144e-01 9.75319925e-01 -1.23245807e-02 -3.60572250e+01] [-5.19552171e-02 8.75909081e-04 9.98649032e-01 -1.20007019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:-36.07, Z:-12.00 [[ 9.74040415e-01 2.20583049e-01 5.08762138e-02 1.80546671e+02] [-2.20235051e-01 9.75367790e-01 -1.24176158e-02 -3.60703582e+01] [-5.23621357e-02 8.90534157e-04 9.98627765e-01 -1.20018868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:-36.08, Z:-12.00 [[ 9.73808453e-01 2.21134062e-01 5.28850018e-02 1.80571930e+02] [-2.20891903e-01 9.75242264e-01 -1.04543964e-02 -3.60813823e+01] [-5.38875121e-02 -1.50128911e-03 9.98545884e-01 -1.20037020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-36.09, Z:-12.01 [[ 9.73667133e-01 2.22065018e-01 5.15697714e-02 1.80600245e+02] [-2.21582670e-01 9.75026801e-01 -1.49618957e-02 -3.60886960e+01] [-5.36044228e-02 3.14093848e-03 9.98557310e-01 -1.20052393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-36.10, Z:-12.01 [[ 9.73169580e-01 2.24141465e-01 5.19766457e-02 1.80625112e+02] [-2.23823091e-01 9.74556619e-01 -1.19423806e-02 -3.61026364e+01] [-5.33309667e-02 -1.16119749e-05 9.98576891e-01 -1.20069368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:-36.11, Z:-12.01 [[ 9.72862463e-01 2.25562961e-01 5.15749898e-02 1.80651509e+02] [-2.25174666e-01 9.74227697e-01 -1.32952751e-02 -3.61108015e+01] [-5.32447052e-02 1.32109296e-03 9.98580621e-01 -1.20086318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:-36.12, Z:-12.01 [[ 9.72532347e-01 2.26944197e-01 5.17413405e-02 1.80679162e+02] [-2.26594246e-01 9.73907614e-01 -1.26097970e-02 -3.61208552e+01] [-5.32530057e-02 5.39145430e-04 9.98580906e-01 -1.20108093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:180.71, Y:-36.13, Z:-12.01 [[ 9.71751683e-01 2.30186662e-01 5.20842404e-02 1.80706010e+02] [-2.29836849e-01 9.73146428e-01 -1.26906452e-02 -3.61333063e+01] [-5.36068097e-02 3.61278150e-04 9.98562056e-01 -1.20127435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:-36.14, Z:-12.01 [[ 9.71376954e-01 2.31761619e-01 5.20899770e-02 1.80732109e+02] [-2.31414123e-01 9.72772572e-01 -1.26896031e-02 -3.61416400e+01] [-5.36126639e-02 2.72031661e-04 9.98561770e-01 -1.20139611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264000000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:180.76, Y:-36.15, Z:-12.02 [[ 9.70573779e-01 2.35271635e-01 5.13205287e-02 1.80759007e+02] [-2.34939434e-01 9.71929654e-01 -1.24983922e-02 -3.61521215e+01] [-5.28204609e-02 7.33957995e-05 9.98604022e-01 -1.20165615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:-36.16, Z:-12.02 [[ 9.70151411e-01 2.37113482e-01 5.08275179e-02 1.80785824e+02] [-2.36790289e-01 9.71481959e-01 -1.23759198e-02 -3.61605293e+01] [-5.23125141e-02 -2.89465881e-05 9.98630763e-01 -1.20181750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:-36.17, Z:-12.02 [[ 9.69691511e-01 2.38919688e-01 5.11444663e-02 1.80812701e+02] [-2.38595124e-01 9.71039323e-01 -1.24499368e-02 -3.61687580e+01] [-5.26378229e-02 -1.30222249e-04 9.98613660e-01 -1.20200990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.84, Y:-36.18, Z:-12.02 [[ 9.68801838e-01 2.42280283e-01 5.21848976e-02 1.80839741e+02] [-2.41947452e-01 9.70206246e-01 -1.26992224e-02 -3.61778182e+01] [-5.37068848e-02 -3.22972984e-04 9.98556692e-01 -1.20216971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:-36.18, Z:-12.02 [[ 9.68517043e-01 2.43400306e-01 5.22592532e-02 1.80865884e+02] [-2.43068339e-01 9.69925842e-01 -1.27138753e-02 -3.61845861e+01] [-5.37821614e-02 -3.88964969e-04 9.98552616e-01 -1.20235158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:-36.19, Z:-12.02 [[ 9.68153621e-01 2.44792151e-01 5.24916095e-02 1.80893321e+02] [-2.44459609e-01 9.69575463e-01 -1.27640881e-02 -3.61906098e+01] [-5.40191251e-02 -4.74480256e-04 9.98539788e-01 -1.20249165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.92, Y:-36.20, Z:-12.03 [[ 9.68041898e-01 2.45233620e-01 5.24914870e-02 1.80919996e+02] [-2.44901960e-01 9.69463882e-01 -1.27597725e-02 -3.61971969e+01] [-5.40177260e-02 -5.03273618e-04 9.98539850e-01 -1.20274172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-36.20, Z:-12.03 [[ 9.68246255e-01 2.44657895e-01 5.13975101e-02 1.80946598e+02] [-2.44339274e-01 9.69609354e-01 -1.24908088e-02 -3.62038986e+01] [-5.28914816e-02 -4.64251470e-04 9.98600158e-01 -1.20302357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-36.21, Z:-12.03 [[ 9.68516860e-01 2.43633231e-01 5.11658173e-02 1.80973344e+02] [-2.43316268e-01 9.69867352e-01 -1.24303372e-02 -3.62103503e+01] [-5.26524989e-02 -4.10484587e-04 9.98612811e-01 -1.20318538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:-36.22, Z:-12.03 [[ 9.68830319e-01 2.42305951e-01 5.15328852e-02 1.81000358e+02] [-2.41982723e-01 9.70199829e-01 -1.25161618e-02 -3.62170918e+01] [-5.30299369e-02 -3.44030785e-04 9.98592864e-01 -1.20338830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:-36.22, Z:-12.04 [[ 9.69709154e-01 2.38603175e-01 5.22750563e-02 1.81027602e+02] [-2.38265354e-01 9.71117142e-01 -1.26932099e-02 -3.62230640e+01] [-5.37938434e-02 -1.46612979e-04 9.98552052e-01 -1.20353907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:-36.23, Z:-12.04 [[ 9.70099922e-01 2.36953819e-01 5.25264513e-02 1.81054729e+02] [-2.36610539e-01 9.71520913e-01 -1.27502397e-02 -3.62286378e+01] [-5.40517639e-02 -5.93054164e-05 9.98538133e-01 -1.20366853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-36.23, Z:-12.04 [[ 9.70830804e-01 2.33891569e-01 5.27473655e-02 1.81083006e+02] [-2.33541109e-01 9.72262682e-01 -1.27995305e-02 -3.62336968e+01] [-5.42779973e-02 1.07500281e-04 9.98525857e-01 -1.20384478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.11, Y:-36.24, Z:-12.04 [[ 9.71174922e-01 2.32478908e-01 5.26576500e-02 1.81111210e+02] [-2.32127707e-01 9.72601421e-01 -1.27751345e-02 -3.62402116e+01] [-5.41848545e-02 1.83590645e-04 9.98530905e-01 -1.20406098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-36.25, Z:-12.04 [[ 9.71997574e-01 2.29106133e-01 5.22598931e-02 1.81138767e+02] [-2.28755483e-01 9.73401379e-01 -1.26761107e-02 -3.62455243e+01] [-5.37740267e-02 3.66411782e-04 9.98553063e-01 -1.20425579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:-36.25, Z:-12.05 [[ 9.72350746e-01 2.27234933e-01 5.38359802e-02 1.81167025e+02] [-2.26996196e-01 9.73838069e-01 -1.05897095e-02 -3.62528663e+01] [-5.48338789e-02 -1.92365076e-03 9.98493638e-01 -1.20450969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:-36.26, Z:-12.05 [[ 9.72670046e-01 2.26187467e-01 5.24615208e-02 1.81195926e+02] [-2.25696542e-01 9.74079403e-01 -1.51785034e-02 -3.62562649e+01] [-5.45348741e-02 2.92329178e-03 9.98507587e-01 -1.20463831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73264000000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:181.22, Y:-36.26, Z:-12.05 [[ 9.73248217e-01 2.23380143e-01 5.37514534e-02 1.81222208e+02] [-2.23000597e-01 9.74731154e-01 -1.30350130e-02 -3.62637470e+01] [-5.53049793e-02 6.99696892e-04 9.98469263e-01 -1.20482438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:-36.27, Z:-12.05 [[ 9.73585902e-01 2.21981658e-01 5.34287812e-02 1.81249966e+02] [-2.21604752e-01 9.75050537e-01 -1.29531881e-02 -3.62708128e+01] [-5.49711320e-02 7.70969544e-04 9.98487647e-01 -1.20505356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:-36.28, Z:-12.05 [[ 9.74074239e-01 2.19951096e-01 5.29234568e-02 1.81277690e+02] [-2.19578459e-01 9.75510508e-01 -1.28276902e-02 -3.62777122e+01] [-5.44488528e-02 8.74271491e-04 9.98516178e-01 -1.20530699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-36.28, Z:-12.05 [[ 9.74278695e-01 2.19198856e-01 5.22770054e-02 1.81304246e+02] [-2.18834253e-01 9.75679786e-01 -1.26698769e-02 -3.62842222e+01] [-5.37828399e-02 9.03991744e-04 9.98552246e-01 -1.20549735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:-36.29, Z:-12.06 [[ 9.74417046e-01 2.18634145e-01 5.20627678e-02 1.81331743e+02] [-2.18271904e-01 9.75806461e-01 -1.26145270e-02 -3.62914589e+01] [-5.35611515e-02 9.27970666e-04 9.98564140e-01 -1.20572280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:-36.30, Z:-12.06 [[ 9.74639911e-01 2.17614291e-01 5.21638144e-02 1.81359588e+02] [-2.17249342e-01 9.76034351e-01 -1.26360518e-02 -3.62987701e+01] [-5.36634602e-02 9.83046025e-04 9.98558595e-01 -1.20592189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:-36.31, Z:-12.06 [[ 9.74733509e-01 2.17271653e-01 5.18422143e-02 1.81387499e+02] [-2.16910776e-01 9.76110670e-01 -1.25568863e-02 -3.63051624e+01] [-5.33319939e-02 9.94482887e-04 9.98576341e-01 -1.20605552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-36.31, Z:-12.06 [[ 9.74678810e-01 2.17465937e-01 5.20555824e-02 1.81416217e+02] [-2.17102518e-01 9.76067414e-01 -1.26055811e-02 -3.63110448e+01] [-5.35510422e-02 9.84994736e-04 9.98564628e-01 -1.20623812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.45, Y:-36.32, Z:-12.06 [[ 9.74578277e-01 2.17942933e-01 5.19428507e-02 1.81445027e+02] [-2.17581835e-01 9.75961047e-01 -1.25769454e-02 -3.63174522e+01] [-5.34352553e-02 9.55397003e-04 9.98570859e-01 -1.20636487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:-36.32, Z:-12.07 [[ 9.74199202e-01 2.19579780e-01 5.21597005e-02 1.81471953e+02] [-2.19218045e-01 9.75594160e-01 -1.26286487e-02 -3.63242715e+01] [-5.36596951e-02 8.68471855e-04 9.98558903e-01 -1.20660534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.50, Y:-36.33, Z:-12.07 [[ 9.73858978e-01 2.20923333e-01 5.28353370e-02 1.81498952e+02] [-2.20567373e-01 9.75291013e-01 -1.25488860e-02 -3.63309490e+01] [-5.43021710e-02 5.67093798e-04 9.98524388e-01 -1.20679539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:-36.34, Z:-12.07 [[ 9.73313928e-01 2.23256770e-01 5.30698870e-02 1.81526984e+02] [-2.22876593e-01 9.74759276e-01 -1.30528781e-02 -3.63366529e+01] [-5.46445080e-02 8.76512405e-04 9.98505488e-01 -1.20698636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:-36.34, Z:-12.07 [[ 9.73173310e-01 2.23865343e-01 5.30850061e-02 1.81554724e+02] [-2.23497345e-01 9.74619875e-01 -1.28465956e-02 -3.63428425e+01] [-5.46136095e-02 6.37605985e-04 9.98507360e-01 -1.20720103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:-36.35, Z:-12.07 [[ 9.73133190e-01 2.24025708e-01 5.31439158e-02 1.81582643e+02] [-2.23657275e-01 9.74583034e-01 -1.28582271e-02 -3.63495194e+01] [-5.46737321e-02 6.26744220e-04 9.98504076e-01 -1.20740547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:-36.36, Z:-12.08 [[ 9.73286646e-01 2.23456086e-01 5.27302731e-02 1.81609447e+02] [-2.23092669e-01 9.74713780e-01 -1.27556832e-02 -3.63567916e+01] [-5.42472589e-02 6.51198764e-04 9.98527321e-01 -1.20758692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.64, Y:-36.36, Z:-12.08 [[ 9.73493772e-01 2.22588312e-01 5.25767994e-02 1.81637203e+02] [-2.22225954e-01 9.74912284e-01 -1.27146831e-02 -3.63639162e+01] [-5.40879075e-02 6.93735395e-04 9.98535937e-01 -1.20785526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:-36.37, Z:-12.08 [[ 9.73936319e-01 2.20661141e-01 5.25043580e-02 1.81664311e+02] [-2.20294644e-01 9.75350169e-01 -1.27404002e-02 -3.63732472e+01] [-5.40214457e-02 8.41909633e-04 9.98539421e-01 -1.20804172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:-36.38, Z:-12.08 [[ 9.74186340e-01 2.19618689e-01 5.22360694e-02 1.81691181e+02] [-2.19257969e-01 9.75585435e-01 -1.26095937e-02 -3.63820626e+01] [-5.37300509e-02 8.30919443e-04 9.98555152e-01 -1.20825585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:-36.39, Z:-12.08 [[ 9.74375709e-01 2.18776045e-01 5.22400186e-02 1.81719110e+02] [-2.18412875e-01 9.75774684e-01 -1.26325760e-02 -3.63908089e+01] [-5.37381927e-02 8.98982529e-04 9.98554655e-01 -1.20844913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-36.40, Z:-12.09 [[ 9.74470644e-01 2.18324823e-01 5.23568175e-02 1.81746566e+02] [-2.17959437e-01 9.75875718e-01 -1.26596772e-02 -3.63998960e+01] [-5.38576687e-02 9.24821347e-04 9.98548194e-01 -1.20862912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.77, Y:-36.41, Z:-12.09 [[ 9.74326667e-01 2.18931010e-01 5.25048394e-02 1.81774494e+02] [-2.18564549e-01 9.75739933e-01 -1.26933212e-02 -3.64082285e+01] [-5.40100301e-02 8.91744819e-04 9.98539995e-01 -1.20882657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:-36.42, Z:-12.09 [[ 9.73564339e-01 2.22273470e-01 5.26021208e-02 1.81800198e+02] [-2.21910572e-01 9.74984105e-01 -1.27158705e-02 -3.64186221e+01] [-5.41126324e-02 7.06751329e-04 9.98534588e-01 -1.20906170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:-36.43, Z:-12.09 [[ 9.73011228e-01 2.24662080e-01 5.26887051e-02 1.81828946e+02] [-2.24301640e-01 9.74436567e-01 -1.27338744e-02 -3.64273288e+01] [-5.42026196e-02 5.72039790e-04 9.98529794e-01 -1.20929805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:-36.44, Z:-12.10 [[ 9.72342844e-01 2.27606609e-01 5.23891612e-02 1.81857484e+02] [-2.27254600e-01 9.73753084e-01 -1.26601233e-02 -3.64351794e+01] [-5.38956350e-02 4.04302372e-04 9.98546492e-01 -1.20950203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.88, Y:-36.44, Z:-12.10 [[ 9.70821781e-01 2.34270435e-01 5.12096920e-02 1.81884151e+02] [-2.33943395e-01 9.72171468e-01 -1.23743883e-02 -3.64411025e+01] [-5.26835547e-02 3.31564626e-05 9.98611257e-01 -1.20964515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:-36.45, Z:-12.10 [[ 9.70044986e-01 2.37483580e-01 5.11299769e-02 1.81910601e+02] [-2.37162186e-01 9.71391542e-01 -1.23518857e-02 -3.64476887e+01] [-5.26005971e-02 -1.44212275e-04 9.98615620e-01 -1.20996669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:-36.46, Z:-12.10 [[ 9.68891510e-01 2.42200825e-01 5.08724200e-02 1.81937308e+02] [-2.41889342e-01 9.70226056e-01 -1.22860586e-02 -3.64558582e+01] [-5.23334410e-02 -4.01638365e-04 9.98629586e-01 -1.21020792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:-36.46, Z:-12.10 [[ 9.68905940e-01 2.42142935e-01 5.08731638e-02 1.81964973e+02] [-2.41831534e-01 9.70240505e-01 -1.22829781e-02 -3.64624047e+01] [-5.23334405e-02 -4.01684754e-04 9.98629586e-01 -1.21040245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:-36.47, Z:-12.11 [[ 9.68549399e-01 2.43552829e-01 5.09321332e-02 1.81992626e+02] [-2.43242830e-01 9.69887513e-01 -1.22938219e-02 -3.64694999e+01] [-5.23926351e-02 -4.81702359e-04 9.98626447e-01 -1.21059247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.02, Y:-36.48, Z:-12.11 [[ 9.68281337e-01 2.44558504e-01 5.12092809e-02 1.82019920e+02] [-2.44246656e-01 9.69634387e-01 -1.23582327e-02 -3.64759709e+01] [-5.26765906e-02 -5.41449605e-04 9.98611478e-01 -1.21076383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:-36.48, Z:-12.11 [[ 9.67779131e-01 2.46361804e-01 5.20520494e-02 1.82046955e+02] [-2.46042381e-01 9.69177711e-01 -1.25583415e-02 -3.64813334e+01] [-5.35415818e-02 -6.53309317e-04 9.98565407e-01 -1.21096058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.07, Y:-36.49, Z:-12.11 [[ 9.67589829e-01 2.47065477e-01 5.22357356e-02 1.82074378e+02] [-2.46745031e-01 9.68998536e-01 -1.25987206e-02 -3.64878431e+01] [-5.37290602e-02 -6.98514247e-04 9.98555307e-01 -1.21107998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:-36.50, Z:-12.11 [[ 9.67130661e-01 2.48674153e-01 5.30984997e-02 1.82101087e+02] [-2.48345668e-01 9.68586867e-01 -1.28027695e-02 -3.64951846e+01] [-5.46142273e-02 -8.04831522e-04 9.98507205e-01 -1.21130260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:-36.50, Z:-12.11 [[ 9.66999136e-01 2.49096603e-01 5.35121748e-02 1.82128034e+02] [-2.48763847e-01 9.68478280e-01 -1.28984624e-02 -3.65010877e+01] [-5.50383421e-02 -8.39092454e-04 9.98483889e-01 -1.21144521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:-36.51, Z:-12.12 [[ 9.66930059e-01 2.49250790e-01 5.40398493e-02 1.82156210e+02] [-2.48911922e-01 9.68438590e-01 -1.30212039e-02 -3.65064224e+01] [-5.55798209e-02 -8.60569299e-04 9.98453876e-01 -1.21165576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:182.18, Y:-36.51, Z:-12.12 [[ 9.66948056e-01 2.49214797e-01 5.38836019e-02 1.82184906e+02] [-2.48877985e-01 9.68447855e-01 -1.29808049e-02 -3.65108247e+01] [-5.54184673e-02 -8.58678200e-04 9.98462847e-01 -1.21186388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:-36.52, Z:-12.12 [[ 9.67053771e-01 2.48873556e-01 5.35626532e-02 1.82212546e+02] [-2.48540368e-01 9.68535623e-01 -1.29008653e-02 -3.65161685e+01] [-5.50880219e-02 -8.36651166e-04 9.98481151e-01 -1.21208532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:182.24, Y:-36.52, Z:-12.12 [[ 9.67244665e-01 2.48148265e-01 5.34808068e-02 1.82240267e+02] [-2.47815175e-01 9.68721737e-01 -1.28777365e-02 -3.65209951e+01] [-5.50036080e-02 -7.97433610e-04 9.98485837e-01 -1.21223311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:-36.53, Z:-12.12 [[ 9.67734364e-01 2.46163441e-01 5.37936962e-02 1.82268196e+02] [-2.45823596e-01 9.69228085e-01 -1.29490784e-02 -3.65263707e+01] [-5.53259509e-02 -6.92491726e-04 9.98468106e-01 -1.21249237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:-36.53, Z:-12.13 [[ 9.68128803e-01 2.44583561e-01 5.39027190e-02 1.82294813e+02] [-2.44240036e-01 9.69628029e-01 -1.29726677e-02 -3.65330829e+01] [-5.54384885e-02 -6.05988835e-04 9.98461921e-01 -1.21266476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:-36.54, Z:-12.13 [[ 9.69045452e-01 2.40893840e-01 5.40469191e-02 1.82323467e+02] [-2.40542938e-01 9.70551389e-01 -1.30037087e-02 -3.65389580e+01] [-5.55878257e-02 -3.99419955e-04 9.98453722e-01 -1.21280456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:-36.54, Z:-12.13 [[ 9.69527299e-01 2.38957789e-01 5.39999114e-02 1.82351806e+02] [-2.38604650e-01 9.71029912e-01 -1.29896374e-02 -3.65444790e+01] [-5.55395042e-02 -2.90821902e-04 9.98456448e-01 -1.21303335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:182.38, Y:-36.55, Z:-12.13 [[ 9.70496058e-01 2.35052653e-01 5.37368836e-02 1.82379208e+02] [-2.34697105e-01 9.71982636e-01 -1.29237574e-02 -3.65509907e+01] [-5.52690812e-02 -6.94353773e-05 9.98471494e-01 -1.21323681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:-36.56, Z:-12.14 [[ 9.70971713e-01 2.33101441e-01 5.36437410e-02 1.82406399e+02] [-2.32744340e-01 9.72452424e-01 -1.28978938e-02 -3.65581242e+01] [-5.51725035e-02 3.82129348e-05 9.98476837e-01 -1.21350428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:-36.57, Z:-12.14 [[ 9.71733781e-01 2.29962339e-01 5.33927042e-02 1.82435351e+02] [-2.29604047e-01 9.73199506e-01 -1.28337072e-02 -3.65662412e+01] [-5.49130226e-02 2.11765876e-04 9.98491119e-01 -1.21371127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.46, Y:-36.57, Z:-12.14 [[ 9.72012863e-01 2.28786559e-01 5.33638783e-02 1.82464173e+02] [-2.28426958e-01 9.73476571e-01 -1.28254057e-02 -3.65743304e+01] [-5.48827657e-02 2.76710894e-04 9.98492767e-01 -1.21381775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:-36.58, Z:-12.14 [[ 9.72168446e-01 2.28021124e-01 5.38040932e-02 1.82491874e+02] [-2.27654458e-01 9.73656132e-01 -1.29299532e-02 -3.65821411e+01] [-5.53349878e-02 3.21350765e-04 9.98467794e-01 -1.21405222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:-36.59, Z:-12.14 [[ 9.72083498e-01 2.28312280e-01 5.41033736e-02 1.82519772e+02] [-2.27942082e-01 9.73587906e-01 -1.29998976e-02 -3.65888221e+01] [-5.56424265e-02 3.04550328e-04 9.98450714e-01 -1.21415839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:-36.60, Z:-12.14 [[ 9.71870206e-01 2.29091217e-01 5.46398834e-02 1.82547635e+02] [-2.28715021e-01 9.73404924e-01 -1.31260204e-02 -3.65961640e+01] [-5.61937875e-02 2.59826098e-04 9.98419847e-01 -1.21437481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264000000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:182.58, Y:-36.60, Z:-12.14 [[ 9.71417005e-01 2.30919080e-01 5.50034548e-02 1.82576329e+02] [-2.30540958e-01 9.72972947e-01 -1.32102760e-02 -3.66049931e+01] [-5.65673783e-02 1.52137581e-04 9.98398772e-01 -1.21446219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:-36.61, Z:-12.15 [[ 9.71114126e-01 2.32064387e-01 5.55290497e-02 1.82603857e+02] [-2.31680944e-01 9.72700423e-01 -1.33351761e-02 -3.66117068e+01] [-5.71077496e-02 8.49552346e-05 9.98368017e-01 -1.21473842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:-36.62, Z:-12.15 [[ 9.70575358e-01 2.34291249e-01 5.55975339e-02 1.82631119e+02] [-2.33910617e-01 9.72166451e-01 -1.33497036e-02 -3.66189021e+01] [-5.71777759e-02 -4.79601341e-05 9.98364012e-01 -1.21493015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:-36.63, Z:-12.15 [[ 9.70361582e-01 2.35138114e-01 5.57536264e-02 1.82658294e+02] [-2.34756942e-01 9.71961963e-01 -1.33836040e-02 -3.66263436e+01] [-5.73373995e-02 -1.01615700e-04 9.98354853e-01 -1.21517388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.69, Y:-36.63, Z:-12.15 [[ 9.70095178e-01 2.36186203e-01 5.59591149e-02 1.82685774e+02] [-2.35804164e-01 9.71707800e-01 -1.34293274e-02 -3.66338990e+01] [-5.75477303e-02 -1.67666560e-04 9.98342742e-01 -1.21533259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:-36.64, Z:-12.16 [[ 9.69568547e-01 2.38366661e-01 5.58405640e-02 1.82713847e+02] [-2.37990009e-01 9.71175188e-01 -1.33981351e-02 -3.66413196e+01] [-5.74246390e-02 -2.99085945e-04 9.98349799e-01 -1.21554563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-36.65, Z:-12.16 [[ 9.69352744e-01 2.39292052e-01 5.56288694e-02 1.82741069e+02] [-2.38919949e-01 9.70947572e-01 -1.33443101e-02 -3.66483295e+01] [-5.72059031e-02 -3.55503060e-04 9.98362338e-01 -1.21576590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:-36.66, Z:-12.16 [[ 9.68982179e-01 2.40777385e-01 5.56757363e-02 1.82768093e+02] [-2.40407212e-01 9.70580266e-01 -1.33536487e-02 -3.66556058e+01] [-5.72530275e-02 -4.45400857e-04 9.98359601e-01 -1.21600778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-36.66, Z:-12.16 [[ 9.68810013e-01 2.41464328e-01 5.56968243e-02 1.82794628e+02] [-2.41095214e-01 9.70409572e-01 -1.33551250e-02 -3.66620955e+01] [-5.72735178e-02 -4.89658926e-04 9.98358405e-01 -1.21620231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:-36.67, Z:-12.16 [[ 9.68616965e-01 2.42303811e-01 5.54079247e-02 1.82822258e+02] [-2.41940097e-01 9.70200274e-01 -1.32822324e-02 -3.66687744e+01] [-5.69751192e-02 -5.40003001e-04 9.98375453e-01 -1.21645242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:-36.68, Z:-12.17 [[ 9.68020010e-01 2.44705525e-01 5.52853080e-02 1.82849730e+02] [-2.44347488e-01 9.69597205e-01 -1.32500922e-02 -3.66758302e+01] [-5.68468509e-02 -6.82471748e-04 9.98382677e-01 -1.21669733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53264000000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.88, Y:-36.68, Z:-12.17 [[ 9.67678836e-01 2.46101536e-01 5.50609173e-02 1.82877658e+02] [-2.45748816e-01 9.69243752e-01 -1.31935353e-02 -3.66830008e+01] [-5.66143993e-02 -7.64050368e-04 9.98395826e-01 -1.21676016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:-36.69, Z:-12.17 [[ 9.66703432e-01 2.49814903e-01 5.54706082e-02 1.82905228e+02] [-2.49463174e-01 9.68293102e-01 -1.32888535e-02 -3.66889104e+01] [-5.70315609e-02 -9.91493647e-04 9.98371884e-01 -1.21710255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:-36.69, Z:-12.17 [[ 9.66214132e-01 2.51780405e-01 5.51078842e-02 1.82932413e+02] [-2.51436608e-01 9.67783763e-01 -1.31992626e-02 -3.66932884e+01] [-5.66558313e-02 -1.10282542e-03 9.98393159e-01 -1.21730738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.96, Y:-36.70, Z:-12.17 [[ 9.65375394e-01 2.55055653e-01 5.47445312e-02 1.82962132e+02] [-2.54721838e-01 9.66925514e-01 -1.31085897e-02 -3.66950279e+01] [-5.62773038e-02 -1.28991763e-03 9.98414343e-01 -1.21742214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:-36.70, Z:-12.18 [[ 9.64950009e-01 2.56523741e-01 5.53809581e-02 1.82989718e+02] [-2.56184678e-01 9.66536925e-01 -1.32583595e-02 -3.66992806e+01] [-5.69288249e-02 -1.39409877e-03 9.98377266e-01 -1.21779561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:-36.70, Z:-12.18 [[ 9.64489203e-01 2.58300254e-01 5.51503098e-02 1.83017997e+02] [-2.57967160e-01 9.66063527e-01 -1.31987197e-02 -3.67012726e+01] [-5.66879354e-02 -1.49694621e-03 9.98390824e-01 -1.21799892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:-36.71, Z:-12.18 [[ 9.64355457e-01 2.58797202e-01 5.51594182e-02 1.83045232e+02] [-2.58465002e-01 9.65930468e-01 -1.31975014e-02 -3.67057598e+01] [-5.66956390e-02 -1.52969668e-03 9.98390337e-01 -1.21820616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:-36.71, Z:-12.18 [[ 9.64283510e-01 2.59085266e-01 5.50648566e-02 1.83072474e+02] [-2.58754914e-01 9.65853213e-01 -1.31706393e-02 -3.67102720e+01] [-5.65968873e-02 -1.54807195e-03 9.98395911e-01 -1.21838242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.10, Y:-36.71, Z:-12.18 [[ 9.64293958e-01 2.59240261e-01 5.41447086e-02 1.83099877e+02] [-2.58921327e-01 9.65811644e-01 -1.29466182e-02 -3.67117676e+01] [-5.56498747e-02 -1.53487415e-03 9.98449165e-01 -1.21842979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:-36.71, Z:-12.19 [[ 9.64320972e-01 2.59050047e-01 5.45723035e-02 1.83128071e+02] [-2.58726034e-01 9.65862671e-01 -1.30437827e-02 -3.67148993e+01] [-5.60883433e-02 -1.54088246e-03 9.98424621e-01 -1.21885285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:-36.72, Z:-12.19 [[ 9.64814828e-01 2.57197080e-01 5.46077791e-02 1.83156339e+02] [-2.56869914e-01 9.66357901e-01 -1.30481195e-02 -3.67158442e+01] [-5.61265970e-02 -1.43807633e-03 9.98422624e-01 -1.21908305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:-36.72, Z:-12.19 [[ 9.65234812e-01 2.55420660e-01 5.55161603e-02 1.83182488e+02] [-2.55079817e-01 9.66829061e-01 -1.32609626e-02 -3.67200487e+01] [-5.70617610e-02 -1.36110926e-03 9.98369723e-01 -1.21931271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:-36.72, Z:-12.19 [[ 9.65816291e-01 2.53090678e-01 5.60713846e-02 1.83210012e+02] [-2.52739357e-01 9.67441765e-01 -1.33883597e-02 -3.67248403e+01] [-5.76342684e-02 -1.24074976e-03 9.98336993e-01 -1.21946042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.24, Y:-36.73, Z:-12.20 [[ 9.67456416e-01 2.47032799e-01 5.47985369e-02 1.83238336e+02] [-2.46687765e-01 9.69006734e-01 -1.30803572e-02 -3.67282394e+01] [-5.63314285e-02 -8.63453105e-04 9.98411751e-01 -1.21950684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:-36.73, Z:-12.20 [[ 9.68276814e-01 2.43764226e-01 5.49455558e-02 1.83265554e+02] [-2.43412283e-01 9.69834286e-01 -1.31117822e-02 -3.67332251e+01] [-5.64842673e-02 -6.78588540e-04 9.98403259e-01 -1.21988418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.29, Y:-36.74, Z:-12.20 [[ 9.69845566e-01 2.37824970e-01 5.32809651e-02 1.83293088e+02] [-2.37485253e-01 9.71307973e-01 -1.27112967e-02 -3.67369924e+01] [-5.47752899e-02 -3.25448757e-04 9.98498654e-01 -1.21993401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:-36.74, Z:-12.20 [[ 9.70341536e-01 2.35751358e-01 5.34658781e-02 1.83320450e+02] [-2.35406361e-01 9.71813383e-01 -1.27512100e-02 -3.67428576e+01] [-5.49649710e-02 -2.13179077e-04 9.98488261e-01 -1.22032686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:-36.75, Z:-12.21 [[ 9.70742539e-01 2.34123263e-01 5.33406136e-02 1.83346438e+02] [-2.33777654e-01 9.72206913e-01 -1.27171657e-02 -3.67484986e+01] [-5.48354977e-02 -1.24749757e-04 9.98495394e-01 -1.22054039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.37, Y:-36.75, Z:-12.21 [[ 9.71088669e-01 2.32893255e-01 5.24168815e-02 1.83374192e+02] [-2.32557944e-01 9.72502302e-01 -1.24929827e-02 -3.67543680e+01] [-5.38850694e-02 -5.81682538e-05 9.98547143e-01 -1.22056851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:-36.76, Z:-12.21 [[ 9.71336303e-01 2.31759583e-01 5.28515082e-02 1.83400951e+02] [-2.31417233e-01 9.72773096e-01 -1.25924047e-02 -3.67604512e+01] [-5.43309357e-02 7.10009822e-07 9.98522984e-01 -1.22098910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:-36.77, Z:-12.21 [[ 9.71374959e-01 2.31541065e-01 5.30982559e-02 1.83427447e+02] [-2.31195401e-01 9.72825131e-01 -1.26471936e-02 -3.67660716e+01] [-5.45836624e-02 9.09458858e-06 9.98509201e-01 -1.22113340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:-36.77, Z:-12.21 [[ 9.71182318e-01 2.32219211e-01 5.36576388e-02 1.83454951e+02] [-2.31867545e-01 9.72663476e-01 -1.27751602e-02 -3.67701101e+01] [-5.51574631e-02 -3.44553245e-05 9.98477668e-01 -1.22125789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:-36.78, Z:-12.21 [[ 9.71063707e-01 2.32729242e-01 5.35945584e-02 1.83482461e+02] [-2.32379359e-01 9.72541565e-01 -1.27568817e-02 -3.67755321e+01] [-5.50918351e-02 -6.65242461e-05 9.98481289e-01 -1.22145778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:183.51, Y:-36.78, Z:-12.21 [[ 9.70776148e-01 2.34163129e-01 5.25480650e-02 1.83509603e+02] [-2.33829092e-01 9.72197309e-01 -1.25039464e-02 -3.67817104e+01] [-5.40150506e-02 -1.48733435e-04 9.98540110e-01 -1.22148951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-36.79, Z:-12.22 [[ 9.70514429e-01 2.35035382e-01 5.34800122e-02 1.83535532e+02] [-2.34690912e-01 9.71986794e-01 -1.27219581e-02 -3.67872767e+01] [-5.49719758e-02 -2.04428952e-04 9.98487877e-01 -1.22184384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.56, Y:-36.79, Z:-12.22 [[ 9.69908248e-01 2.37319020e-01 5.43844966e-02 1.83563658e+02] [-2.36966756e-01 9.71431708e-01 -1.29303378e-02 -3.67911939e+01] [-5.58994394e-02 -3.46076466e-04 9.98436344e-01 -1.22191332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.59, Y:-36.80, Z:-12.22 [[ 9.69697382e-01 2.38193389e-01 5.43221533e-02 1.83590316e+02] [-2.37843529e-01 9.71217663e-01 -1.29114751e-02 -3.67958033e+01] [-5.58340629e-02 -3.99949028e-04 9.98439982e-01 -1.22187778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:183.62, Y:-36.80, Z:-12.22 [[ 9.69492856e-01 2.38946934e-01 5.46622777e-02 1.83617204e+02] [-2.38594151e-01 9.71032522e-01 -1.29873630e-02 -3.68011196e+01] [-5.61821399e-02 -4.50944093e-04 9.98420434e-01 -1.22201250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37264000000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.64, Y:-36.81, Z:-12.22 [[ 9.69339662e-01 2.39474951e-01 5.50669446e-02 1.83644412e+02] [-2.39118061e-01 9.70902419e-01 -1.30784159e-02 -3.68066689e+01] [-5.65965827e-02 -4.90073776e-04 9.98397009e-01 -1.22218976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:-36.81, Z:-12.23 [[ 9.69342702e-01 2.39217638e-01 5.61217199e-02 1.83670709e+02] [-2.38846726e-01 9.70965851e-01 -1.33250831e-02 -3.68126715e+01] [-5.76798684e-02 -4.87916981e-04 9.98335011e-01 -1.22261359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:-36.82, Z:-12.23 [[ 9.69356679e-01 2.39160609e-01 5.61233680e-02 1.83698395e+02] [-2.38790004e-01 9.70979897e-01 -1.33181377e-02 -3.68191123e+01] [-5.76798360e-02 -4.91673505e-04 9.98335011e-01 -1.22280815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:-36.82, Z:-12.23 [[ 9.69857999e-01 2.37114057e-01 5.61461125e-02 1.83726557e+02] [-2.36739914e-01 9.71481747e-01 -1.33202218e-02 -3.68234757e+01] [-5.77033353e-02 -3.73302250e-04 9.98333705e-01 -1.22288041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:-36.83, Z:-12.23 [[ 9.70218452e-01 2.35757966e-01 5.56267575e-02 1.83753740e+02] [-2.35388732e-01 9.71811759e-01 -1.31927948e-02 -3.68286112e+01] [-5.71690435e-02 -2.94018983e-04 9.98364470e-01 -1.22303841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:-36.83, Z:-12.23 [[ 9.70557055e-01 2.34488649e-01 5.50824573e-02 1.83779891e+02] [-2.34124803e-01 9.72118833e-01 -1.30595522e-02 -3.68339051e+01] [-5.66090108e-02 -2.21128970e-04 9.98396400e-01 -1.22325846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:183.81, Y:-36.84, Z:-12.23 [[ 9.71188156e-01 2.32097346e-01 5.40776161e-02 1.83806571e+02] [-2.31743231e-01 9.72692559e-01 -1.28163992e-02 -3.68398083e+01] [-5.55755471e-02 -8.49863901e-05 9.98454481e-01 -1.22325601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:-36.85, Z:-12.24 [[ 9.71497845e-01 2.30827762e-01 5.39488825e-02 1.83833436e+02] [-2.30473641e-01 9.72994627e-01 -1.27811134e-02 -3.68459553e+01] [-5.54422086e-02 -1.69712002e-05 9.98461898e-01 -1.22362043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.86, Y:-36.85, Z:-12.24 [[ 9.72057016e-01 2.28475283e-01 5.38906536e-02 1.83860593e+02] [-2.28118529e-01 9.73549707e-01 -1.27634077e-02 -3.68520163e+01] [-5.53813532e-02 1.13303448e-04 9.98465269e-01 -1.22358494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.89, Y:-36.86, Z:-12.24 [[ 9.72247243e-01 2.27510412e-01 5.45372396e-02 1.83887955e+02] [-2.27143747e-01 9.73775634e-01 -1.29125230e-02 -3.68586412e+01] [-5.60447685e-02 1.66371902e-04 9.98428243e-01 -1.22391421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:-36.86, Z:-12.24 [[ 9.72671831e-01 2.25716328e-01 5.44210334e-02 1.83914992e+02] [-2.25348643e-01 9.74193035e-01 -1.28810126e-02 -3.68636710e+01] [-5.59240466e-02 2.65292097e-04 9.98434991e-01 -1.22408327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.94, Y:-36.87, Z:-12.24 [[ 9.72812857e-01 2.25208657e-01 5.40019110e-02 1.83942083e+02] [-2.24846071e-01 9.74310514e-01 -1.27775906e-02 -3.68705781e+01] [-5.54922537e-02 2.88086946e-04 9.98459076e-01 -1.22408394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73264000000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:183.97, Y:-36.88, Z:-12.24 [[ 9.72933480e-01 2.24729571e-01 5.38243698e-02 1.83969186e+02] [-2.24368813e-01 9.74421122e-01 -1.27323454e-02 -3.68779854e+01] [-5.53089373e-02 3.11215168e-04 9.98469241e-01 -1.22428406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:-36.89, Z:-12.25 [[ 9.72795013e-01 2.25453001e-01 5.32992150e-02 1.83995561e+02] [-2.25100551e-01 9.74254009e-01 -1.26042454e-02 -3.68865109e+01] [-5.47686389e-02 2.63664435e-04 9.98499037e-01 -1.22462454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:-36.89, Z:-12.25 [[ 9.72545017e-01 2.26608645e-01 5.29595375e-02 1.84021806e+02] [-2.26262599e-01 9.73985875e-01 -1.25200556e-02 -3.68921180e+01] [-5.44189943e-02 1.93555124e-04 9.98518170e-01 -1.22474022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:-36.90, Z:-12.25 [[ 9.71803408e-01 2.29570473e-01 5.38101641e-02 1.84048352e+02] [-2.29218018e-01 9.73292041e-01 -1.27162292e-02 -3.68970267e+01] [-5.52922752e-02 2.34156691e-05 9.98470212e-01 -1.22487240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:-36.90, Z:-12.25 [[ 9.71400792e-01 2.31077503e-01 5.46231466e-02 1.84076159e+02] [-2.30716972e-01 9.72935344e-01 -1.29033236e-02 -3.69026766e+01] [-5.61264577e-02 -6.81882291e-05 9.98423666e-01 -1.22503024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:-36.91, Z:-12.25 [[ 9.70620329e-01 2.34284261e-01 5.48366915e-02 1.84103341e+02] [-2.33926245e-01 9.72168102e-01 -1.29496589e-02 -3.69077671e+01] [-5.63443836e-02 -2.58539195e-04 9.98411360e-01 -1.22522730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:-36.91, Z:-12.25 [[ 9.70287707e-01 2.35667956e-01 5.47939878e-02 1.84129813e+02] [-2.35312935e-01 9.71833575e-01 -1.29354267e-02 -3.69144658e+01] [-5.62991026e-02 -3.42648564e-04 9.98413889e-01 -1.22542563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:-36.92, Z:-12.26 [[ 9.69769343e-01 2.37973704e-01 5.39994247e-02 1.84157255e+02] [-2.37632762e-01 9.71271482e-01 -1.27428116e-02 -3.69210084e+01] [-5.54805553e-02 -4.74444356e-04 9.98459655e-01 -1.22563404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:-36.93, Z:-12.26 [[ 9.69457886e-01 2.39356348e-01 5.34784526e-02 1.84184849e+02] [-2.39024272e-01 9.70931632e-01 -1.26159988e-02 -3.69263380e+01] [-5.49436406e-02 -5.51968651e-04 9.98489305e-01 -1.22580432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:-36.93, Z:-12.26 [[ 9.69086233e-01 2.40928495e-01 5.31538619e-02 1.84212415e+02] [-2.40603023e-01 9.70542657e-01 -1.25353773e-02 -3.69310579e+01] [-5.46082199e-02 -6.41118337e-04 9.98507652e-01 -1.22602996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-36.93, Z:-12.26 [[ 9.68239232e-01 2.44298439e-01 5.32077236e-02 1.84239770e+02] [-2.43977568e-01 9.69699734e-01 -1.25447652e-02 -3.69343193e+01] [-5.46601820e-02 -8.35157199e-04 9.98504666e-01 -1.22619830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:-36.94, Z:-12.26 [[ 9.67816738e-01 2.45868753e-01 5.36592822e-02 1.84266467e+02] [-2.45545270e-01 9.69302674e-01 -1.26430459e-02 -3.69394820e+01] [-5.51206157e-02 -9.39631528e-04 9.98479261e-01 -1.22637382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:-36.94, Z:-12.27 [[ 9.67219493e-01 2.48293795e-01 5.32601506e-02 1.84294300e+02] [-2.47979043e-01 9.68684178e-01 -1.25442105e-02 -3.69432552e+01] [-5.47069149e-02 -1.07439625e-03 9.98501877e-01 -1.22658270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:-36.95, Z:-12.27 [[ 9.67149664e-01 2.48699962e-01 5.26294283e-02 1.84320841e+02] [-2.48393436e-01 9.68579963e-01 -1.23917743e-02 -3.69474004e+01] [-5.40576435e-02 -1.08810415e-03 9.98537224e-01 -1.22679034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:-36.95, Z:-12.27 [[ 9.66985970e-01 2.49444982e-01 5.21088680e-02 1.84348294e+02] [-2.49145837e-01 9.68388320e-01 -1.22643059e-02 -3.69524225e+01] [-5.35208888e-02 -1.12329577e-03 9.98566098e-01 -1.22696025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:-36.96, Z:-12.27 [[ 9.66965320e-01 2.49522449e-01 5.21211825e-02 1.84375359e+02] [-2.49223476e-01 9.68368353e-01 -1.22634271e-02 -3.69563027e+01] [-5.35325041e-02 -1.13151360e-03 9.98565466e-01 -1.22714982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:-36.96, Z:-12.27 [[ 9.67005320e-01 2.49357950e-01 5.21663094e-02 1.84402631e+02] [-2.49058475e-01 9.68410729e-01 -1.22693078e-02 -3.69607360e+01] [-5.35778631e-02 -1.12797558e-03 9.98563038e-01 -1.22729608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:-36.96, Z:-12.27 [[ 9.67228699e-01 2.48577087e-01 5.17501234e-02 1.84430632e+02] [-2.48281468e-01 9.68611514e-01 -1.21674607e-02 -3.69639781e+01] [-5.31503173e-02 -1.07987946e-03 9.98585939e-01 -1.22749228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.46, Y:-36.97, Z:-12.28 [[ 9.67285334e-01 2.48340512e-01 5.18273347e-02 1.84457330e+02] [-2.48043836e-01 9.68672206e-01 -1.21825041e-02 -3.69685104e+01] [-5.32291079e-02 -1.07149335e-03 9.98581751e-01 -1.22751422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:-36.97, Z:-12.28 [[ 9.67237971e-01 2.48693817e-01 5.10107172e-02 1.84485502e+02] [-2.48407336e-01 9.68581548e-01 -1.19824724e-02 -3.69717598e+01] [-5.23880062e-02 -1.08153408e-03 9.98626220e-01 -1.22786759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:-36.98, Z:-12.28 [[ 9.67209541e-01 2.48841626e-01 5.08286279e-02 1.84511987e+02] [-2.48557584e-01 9.68543576e-01 -1.19360224e-02 -3.69756083e+01] [-5.21999203e-02 -1.08920624e-03 9.98636061e-01 -1.22806911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-36.98, Z:-12.28 [[ 9.67155652e-01 2.49063277e-01 5.07683803e-02 1.84538322e+02] [-2.48780450e-01 9.68486585e-01 -1.19173539e-02 -3.69799085e+01] [-5.21366705e-02 -1.10424428e-03 9.98639348e-01 -1.22826127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:-36.98, Z:-12.28 [[ 9.67048443e-01 2.49395776e-01 5.11767099e-02 1.84566966e+02] [-2.49108993e-01 9.68400981e-01 -1.20103610e-02 -3.69821567e+01] [-5.25549094e-02 -1.13397780e-03 9.98617392e-01 -1.22837526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.59, Y:-36.99, Z:-12.28 [[ 9.67153513e-01 2.48991193e-01 5.11611976e-02 1.84594731e+02] [-2.48704660e-01 9.68505097e-01 -1.19945224e-02 -3.69858298e+01] [-5.25364111e-02 -1.12348376e-03 9.98618377e-01 -1.22847727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.62, Y:-36.99, Z:-12.29 [[ 9.67491199e-01 2.47635165e-01 5.13576198e-02 1.84622193e+02] [-2.47344715e-01 9.68852779e-01 -1.20368278e-02 -3.69872855e+01] [-5.27387145e-02 -1.05751088e-03 9.98607786e-01 -1.22855895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:-36.99, Z:-12.29 [[ 9.67802116e-01 2.46382354e-01 5.15247451e-02 1.84649894e+02] [-2.46088388e-01 9.69172196e-01 -1.20731207e-02 -3.69913607e+01] [-5.29109542e-02 -9.95249704e-04 9.98598738e-01 -1.22878096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:-37.00, Z:-12.29 [[ 9.68214437e-01 2.44842740e-01 5.11159214e-02 1.84677966e+02] [-2.44551812e-01 9.69562374e-01 -1.19671784e-02 -3.69958656e+01] [-5.24901509e-02 -9.13696292e-04 9.98621024e-01 -1.22895307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:-37.00, Z:-12.29 [[ 9.69103799e-01 2.41309543e-01 5.10639912e-02 1.84705325e+02] [-2.41014937e-01 9.70447921e-01 -1.19429319e-02 -3.70012078e+01] [-5.24368875e-02 -7.33243950e-04 9.98623971e-01 -1.22919639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:-37.01, Z:-12.29 [[ 9.69531758e-01 2.39493277e-01 5.14892282e-02 1.84732665e+02] [-2.39191391e-01 9.70897809e-01 -1.20383947e-02 -3.70071428e+01] [-5.28738935e-02 -6.44174193e-04 9.98600990e-01 -1.22934454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-37.01, Z:-12.30 [[ 9.70380266e-01 2.36280299e-01 5.03364624e-02 1.84760359e+02] [-2.35987656e-01 9.71684829e-01 -1.17651836e-02 -3.70110819e+01] [-5.16910579e-02 -4.62081808e-04 9.98663017e-01 -1.22953270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63264000000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:184.79, Y:-37.02, Z:-12.30 [[ 9.70712724e-01 2.34946314e-01 5.01700868e-02 1.84787040e+02] [-2.34654013e-01 9.72008269e-01 -1.17226030e-02 -3.70151021e+01] [-5.15199216e-02 -3.93332302e-04 9.98671890e-01 -1.22964500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:-37.02, Z:-12.30 [[ 9.70984214e-01 2.33977492e-01 4.94387368e-02 1.84814108e+02] [-2.33692636e-01 9.72241954e-01 -1.15470910e-02 -3.70200887e+01] [-5.07681735e-02 -3.41425626e-04 9.98710406e-01 -1.22991851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:-37.03, Z:-12.30 [[ 9.71050812e-01 2.33782089e-01 4.90536051e-02 1.84840553e+02] [-2.33501578e-01 9.72288962e-01 -1.14537474e-02 -3.70262334e+01] [-5.03719598e-02 -3.31923503e-04 9.98730472e-01 -1.23017017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:-37.03, Z:-12.30 [[ 9.71061864e-01 2.33893908e-01 4.82959329e-02 1.84867417e+02] [-2.33622235e-01 9.72262068e-01 -1.12748892e-02 -3.70326013e+01] [-4.95934315e-02 -3.34388914e-04 9.98769433e-01 -1.23032708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:184.89, Y:-37.04, Z:-12.30 [[ 9.70712497e-01 2.35280363e-01 4.85839472e-02 1.84894938e+02] [-2.35007669e-01 9.71927454e-01 -1.13322085e-02 -3.70373133e+01] [-4.98863183e-02 -4.17283717e-04 9.98754815e-01 -1.23040131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:184.92, Y:-37.04, Z:-12.31 [[ 9.70412374e-01 2.36576016e-01 4.82867801e-02 1.84921297e+02] [-2.36308843e-01 9.71612858e-01 -1.12510002e-02 -3.70427933e+01] [-4.95777732e-02 -4.92483349e-04 9.98770145e-01 -1.23055531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-37.05, Z:-12.31 [[ 9.69765437e-01 2.38708652e-01 5.07264871e-02 1.84947829e+02] [-2.38600711e-01 9.71082613e-01 -8.26191887e-03 -3.70499877e+01] [-5.12318011e-02 -4.09125254e-03 9.98678409e-01 -1.23087569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:-37.05, Z:-12.31 [[ 9.69673941e-01 2.39380275e-01 4.92902924e-02 1.84976023e+02] [-2.38926582e-01 9.70921981e-01 -1.49865284e-02 -3.70513174e+01] [-5.14445076e-02 2.75528501e-03 9.98672054e-01 -1.23088100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.00, Y:-37.06, Z:-12.31 [[ 9.69660881e-01 2.39078057e-01 5.09848901e-02 1.85002362e+02] [-2.38784558e-01 9.71000119e-01 -1.18618807e-02 -3.70587858e+01] [-5.23422498e-02 -6.72402763e-04 9.98628979e-01 -1.23097627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.03, Y:-37.07, Z:-12.31 [[ 9.69775669e-01 2.38380575e-01 5.20562469e-02 1.85028460e+02] [-2.38073991e-01 9.71171598e-01 -1.21038299e-02 -3.70650323e+01] [-5.34408665e-02 -6.55238687e-04 9.98570801e-01 -1.23109809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:-37.07, Z:-12.31 [[ 9.69838290e-01 2.38061048e-01 5.23510202e-02 1.85054658e+02] [-2.37750938e-01 9.71249976e-01 -1.21645157e-02 -3.70707972e+01] [-5.37418245e-02 -6.48891007e-04 9.98554653e-01 -1.23137425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:-37.08, Z:-12.32 [[ 9.69815366e-01 2.38334465e-01 5.15251270e-02 1.85082239e+02] [-2.38034691e-01 9.71182913e-01 -1.19681322e-02 -3.70765553e+01] [-5.28927413e-02 -6.57889147e-04 9.98599983e-01 -1.23152684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:-37.08, Z:-12.32 [[ 9.69490974e-01 2.39627537e-01 5.16322968e-02 1.85109550e+02] [-2.39328454e-01 9.70864619e-01 -1.19909733e-02 -3.70819322e+01] [-5.30013376e-02 -7.31937336e-04 9.98594173e-01 -1.23177559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.14, Y:-37.09, Z:-12.32 [[ 9.69384120e-01 2.39972294e-01 5.20358136e-02 1.85136347e+02] [-2.39669578e-01 9.70779434e-01 -1.20740716e-02 -3.70866810e+01] [-5.34127404e-02 -7.66988203e-04 9.98572226e-01 -1.23181572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:-37.09, Z:-12.32 [[ 9.69160266e-01 2.40794283e-01 5.24069811e-02 1.85163156e+02] [-2.40488997e-01 9.70575823e-01 -1.21496793e-02 -3.70927100e+01] [-5.37905221e-02 -8.28315925e-04 9.98551898e-01 -1.23217025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:-37.10, Z:-12.32 [[ 9.69117186e-01 2.41109769e-01 5.17490029e-02 1.85190905e+02] [-2.40813106e-01 9.70497483e-01 -1.19868020e-02 -3.70971052e+01] [-5.31124122e-02 -8.45222247e-04 9.98588182e-01 -1.23240437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-37.10, Z:-12.33 [[ 9.69112295e-01 2.41163106e-01 5.15918298e-02 1.85217451e+02] [-2.40868933e-01 9.70484220e-01 -1.19387949e-02 -3.71025190e+01] [-5.29482536e-02 -8.56836046e-04 9.98596890e-01 -1.23260029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264000000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.25, Y:-37.11, Z:-12.33 [[ 9.69349485e-01 2.40220198e-01 5.15347666e-02 1.85245846e+02] [-2.39925682e-01 9.70718084e-01 -1.19192314e-02 -3.71055418e+01] [-5.28889700e-02 -8.10613199e-04 9.98600070e-01 -1.23259611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.27, Y:-37.11, Z:-12.33 [[ 9.69422353e-01 2.40004245e-01 5.11689695e-02 1.85273608e+02] [-2.39714125e-01 9.70771506e-01 -1.18245695e-02 -3.71106377e+01] [-5.25113245e-02 -8.02922766e-04 9.98620006e-01 -1.23279528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:-37.12, Z:-12.33 [[ 9.69230151e-01 2.40735076e-01 5.13764237e-02 1.85299897e+02] [-2.40444273e-01 9.70590484e-01 -1.18601954e-02 -3.71154848e+01] [-5.27206330e-02 -8.57907837e-04 9.98608932e-01 -1.23317970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:185.33, Y:-37.12, Z:-12.33 [[ 9.69305917e-01 2.40417827e-01 5.14325548e-02 1.85327604e+02] [-2.40126088e-01 9.70669128e-01 -1.18703804e-02 -3.71200253e+01] [-5.27778441e-02 -8.44268275e-04 9.98605921e-01 -1.23317212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:-37.13, Z:-12.34 [[ 9.69091269e-01 2.41212649e-01 5.17549010e-02 1.85353687e+02] [-2.40919005e-01 9.70471864e-01 -1.19328857e-02 -3.71250049e+01] [-5.31050382e-02 -9.04683911e-04 9.98588522e-01 -1.23352540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:-37.13, Z:-12.34 [[ 9.69058672e-01 2.41264203e-01 5.21236493e-02 1.85380634e+02] [-2.40966876e-01 9.70459033e-01 -1.20096043e-02 -3.71296051e+01] [-5.34813539e-02 -9.22061747e-04 9.98568423e-01 -1.23371308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:-37.13, Z:-12.34 [[ 9.69217348e-01 2.40680056e-01 5.18733313e-02 1.85408613e+02] [-2.40384894e-01 9.70604101e-01 -1.19491025e-02 -3.71338920e+01] [-5.32243788e-02 -8.88287843e-04 9.98582183e-01 -1.23394085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:-37.14, Z:-12.34 [[ 9.69246683e-01 2.40561339e-01 5.18759050e-02 1.85436331e+02] [-2.40266605e-01 9.70633527e-01 -1.19379172e-02 -3.71401153e+01] [-5.32242940e-02 -8.93260975e-04 9.98582183e-01 -1.23413540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.46, Y:-37.14, Z:-12.34 [[ 9.69417927e-01 2.39921517e-01 5.16386259e-02 1.85463387e+02] [-2.39628909e-01 9.70791906e-01 -1.18768964e-02 -3.71445480e+01] [-5.29798831e-02 -8.60431327e-04 9.98595209e-01 -1.23419705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:-37.15, Z:-12.35 [[ 9.69424083e-01 2.39893687e-01 5.16523649e-02 1.85490018e+02] [-2.39601271e-01 9.70798779e-01 -1.18727714e-02 -3.71502770e+01] [-5.29922557e-02 -8.66221738e-04 9.98594548e-01 -1.23452929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:-37.15, Z:-12.35 [[ 9.69385975e-01 2.40056776e-01 5.16098441e-02 1.85518123e+02] [-2.39765401e-01 9.70758450e-01 -1.18567919e-02 -3.71544573e+01] [-5.29469955e-02 -8.80447150e-04 9.98596936e-01 -1.23468844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:-37.16, Z:-12.35 [[ 9.69362282e-01 2.40290203e-01 5.09645413e-02 1.85545221e+02] [-2.40006900e-01 9.70700687e-01 -1.16988929e-02 -3.71596209e+01] [-5.22824446e-02 -8.91376056e-04 9.98631940e-01 -1.23488710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:-37.16, Z:-12.35 [[ 9.69256467e-01 2.40936382e-01 4.99155361e-02 1.85571765e+02] [-2.40666104e-01 9.70540476e-01 -1.14459946e-02 -3.71632581e+01] [-5.12028047e-02 -9.18873307e-04 9.98687853e-01 -1.23506772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:-37.17, Z:-12.35 [[ 9.69243807e-01 2.40981537e-01 4.99433780e-02 1.85598826e+02] [-2.40711150e-01 9.70529260e-01 -1.14497903e-02 -3.71685305e+01] [-5.12306978e-02 -9.24289622e-04 9.98686418e-01 -1.23529470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:-37.17, Z:-12.35 [[ 9.69220483e-01 2.40989588e-01 5.03554770e-02 1.85625311e+02] [-2.40715376e-01 9.70527241e-01 -1.15317474e-02 -3.71729815e+01] [-5.16503932e-02 -9.44531780e-04 9.98664781e-01 -1.23547700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.65, Y:-37.18, Z:-12.36 [[ 9.69302533e-01 2.40592265e-01 5.06750554e-02 1.85653584e+02] [-2.40314164e-01 9.70625826e-01 -1.16021169e-02 -3.71753220e+01] [-5.19778970e-02 -9.31972295e-04 9.98647801e-01 -1.23554914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-37.18, Z:-12.36 [[ 9.69392789e-01 2.40121504e-01 5.11789338e-02 1.85680731e+02] [-2.39837748e-01 9.70742399e-01 -1.17067972e-02 -3.71785347e+01] [-5.24926147e-02 -9.26155431e-04 9.98620883e-01 -1.23581145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-37.18, Z:-12.36 [[ 9.69467038e-01 2.39806703e-01 5.12484768e-02 1.85707489e+02] [-2.39522384e-01 9.70820217e-01 -1.17103970e-02 -3.71821917e+01] [-5.25612890e-02 -9.22313396e-04 9.98617274e-01 -1.23602082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-37.19, Z:-12.36 [[ 9.69593205e-01 2.39378146e-01 5.08637467e-02 1.85735556e+02] [-2.39097627e-01 9.70926003e-01 -1.16199097e-02 -3.71865856e+01] [-5.21664867e-02 -8.94815592e-04 9.98638001e-01 -1.23619793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.76, Y:-37.19, Z:-12.36 [[ 9.69750613e-01 2.38786174e-01 5.06449513e-02 1.85762529e+02] [-2.38507788e-01 9.71071783e-01 -1.15597328e-02 -3.71914250e+01] [-5.19401875e-02 -8.69157347e-04 9.98649819e-01 -1.23641379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-37.19, Z:-12.37 [[ 9.70194133e-01 2.36879876e-01 5.11005850e-02 1.85789175e+02] [-2.36594460e-01 9.71538629e-01 -1.16513913e-02 -3.71943226e+01] [-5.24061724e-02 -7.86003784e-04 9.98625543e-01 -1.23663700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:-37.20, Z:-12.37 [[ 9.70966781e-01 2.33274041e-01 5.29786034e-02 1.85817317e+02] [-2.33165544e-01 9.72401582e-01 -8.30616073e-03 -3.71990455e+01] [-5.34540894e-02 -4.28777873e-03 9.98561102e-01 -1.23691676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:185.85, Y:-37.20, Z:-12.37 [[ 9.71560119e-01 2.31037828e-01 5.18888961e-02 1.85845545e+02] [-2.30668625e-01 9.72944490e-01 -1.30768844e-02 -3.72004720e+01] [-5.35062705e-02 7.35839084e-04 9.98567242e-01 -1.23684912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:-37.21, Z:-12.37 [[ 9.71908286e-01 2.28989881e-01 5.43867470e-02 1.85870679e+02] [-2.28789128e-01 9.73424918e-01 -9.97315107e-03 -3.72085094e+01] [-5.52251655e-02 -2.75010825e-03 9.98470139e-01 -1.23726520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:-37.21, Z:-12.37 [[ 9.73126946e-01 2.24120958e-01 5.28558685e-02 1.85899358e+02] [-2.23524428e-01 9.74549789e-01 -1.70158594e-02 -3.72099286e+01] [-5.53242862e-02 4.74401347e-03 9.98457169e-01 -1.23725183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:-37.22, Z:-12.38 [[ 9.73803247e-01 2.20872095e-01 5.40625012e-02 1.85925425e+02] [-2.20529660e-01 9.75302781e-01 -1.22944696e-02 -3.72190827e+01] [-5.54428130e-02 5.00093421e-05 9.98461863e-01 -1.23753214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.95, Y:-37.23, Z:-12.38 [[ 9.75151237e-01 2.14832367e-01 5.41028537e-02 1.85952669e+02] [-2.14480716e-01 9.76650862e-01 -1.22929095e-02 -3.72262105e+01] [-5.54805136e-02 3.83427088e-04 9.98459697e-01 -1.23760301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95264000000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.98, Y:-37.23, Z:-12.38 [[ 9.75763820e-01 2.12196138e-01 5.34580782e-02 1.85978564e+02] [-2.11849499e-01 9.77226961e-01 -1.21349483e-02 -3.72335214e+01] [-5.48156645e-02 5.15776482e-04 9.98496358e-01 -1.23776753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:-37.25, Z:-12.38 [[ 9.76698176e-01 2.08176378e-01 5.21849511e-02 1.86003244e+02] [-2.07840741e-01 9.78091040e-01 -1.18382387e-02 -3.72450931e+01] [-5.35060747e-02 7.16227249e-04 9.98567267e-01 -1.23816775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:186.03, Y:-37.25, Z:-12.38 [[ 9.77088648e-01 2.06367783e-01 5.20587326e-02 1.86030306e+02] [-2.06031444e-01 9.78474161e-01 -1.18051069e-02 -3.72520587e+01] [-5.33743184e-02 8.08900091e-04 9.98574248e-01 -1.23813055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:-37.26, Z:-12.39 [[ 9.77210414e-01 2.05860682e-01 5.17801701e-02 1.86057028e+02] [-2.05527424e-01 9.78580959e-01 -1.17381769e-02 -3.72610518e+01] [-5.30875176e-02 8.28423780e-04 9.98589520e-01 -1.23850093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:-37.27, Z:-12.39 [[ 9.77112755e-01 2.06235034e-01 5.21322868e-02 1.86082629e+02] [-2.05990464e-01 9.78502080e-01 -1.00801245e-02 -3.72721408e+01] [-5.30904258e-02 -8.89335746e-04 9.98589313e-01 -1.23870053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:-37.28, Z:-12.39 [[ 9.76513251e-01 2.09375578e-01 5.08304896e-02 1.86109570e+02] [-2.08970564e-01 9.77832632e-01 -1.32154463e-02 -3.72809172e+01] [-5.24707031e-02 2.28298236e-03 9.98619854e-01 -1.23882843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-37.29, Z:-12.39 [[ 9.75985762e-01 2.11836804e-01 5.07637694e-02 1.86136278e+02] [-2.11525293e-01 9.77304936e-01 -1.14940245e-02 -3.72896726e+01] [-5.20465398e-02 4.80183118e-04 9.98644545e-01 -1.23900833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:186.16, Y:-37.30, Z:-12.39 [[ 9.75513959e-01 2.14072299e-01 5.04536007e-02 1.86162382e+02] [-2.13767760e-01 9.76817754e-01 -1.14201816e-02 -3.72962080e+01] [-5.17287175e-02 3.55193414e-04 9.98661111e-01 -1.23905803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:-37.31, Z:-12.39 [[ 9.74287802e-01 2.19571039e-01 5.05157144e-02 1.86188389e+02] [-2.19273370e-01 9.75596512e-01 -1.14295282e-02 -3.73078921e+01] [-5.17925481e-02 5.88989457e-05 9.98657864e-01 -1.23948712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.21, Y:-37.32, Z:-12.40 [[ 9.73491396e-01 2.23043608e-01 5.06562095e-02 1.86214325e+02] [-2.22749068e-01 9.74808459e-01 -1.14594990e-02 -3.73174837e+01] [-5.19360695e-02 -1.27899748e-04 9.98650403e-01 -1.23970840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.24, Y:-37.32, Z:-12.40 [[ 9.73291184e-01 2.23900608e-01 5.07226704e-02 1.86240025e+02] [-2.23607043e-01 9.74611966e-01 -1.14632680e-02 -3.73244645e+01] [-5.20015542e-02 -1.84848669e-04 9.98646987e-01 -1.23986293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.27, Y:-37.33, Z:-12.40 [[ 9.73064577e-01 2.24849380e-01 5.08732261e-02 1.86266248e+02] [-2.24555774e-01 9.74393502e-01 -1.14894530e-02 -3.73317876e+01] [-5.21539373e-02 -2.43896947e-04 9.98639028e-01 -1.24005458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:-37.34, Z:-12.40 [[ 9.72809300e-01 2.26095276e-01 5.02294015e-02 1.86292725e+02] [-2.25810948e-01 9.74105143e-01 -1.13395944e-02 -3.73425662e+01] [-5.14925470e-02 -3.11085854e-04 9.98673330e-01 -1.24029436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.32, Y:-37.35, Z:-12.40 [[ 9.72747969e-01 2.26393246e-01 5.00748154e-02 1.86319339e+02] [-2.26111251e-01 9.74035928e-01 -1.13009934e-02 -3.73510775e+01] [-5.13331378e-02 -3.29460788e-04 9.98681531e-01 -1.24048433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:-37.36, Z:-12.41 [[ 9.72605822e-01 2.26823251e-01 5.08834746e-02 1.86344664e+02] [-2.26532850e-01 9.73935872e-01 -1.14798084e-02 -3.73605179e+01] [-5.21611286e-02 -3.61450028e-04 9.98638616e-01 -1.24065645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:-37.37, Z:-12.41 [[ 9.72576364e-01 2.26881391e-01 5.11864265e-02 1.86370465e+02] [-2.26587833e-01 9.73922326e-01 -1.15437011e-02 -3.73683810e+01] [-5.24706545e-02 -3.71090644e-04 9.98622397e-01 -1.24081319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:-37.38, Z:-12.41 [[ 9.72585227e-01 2.26766635e-01 5.15254274e-02 1.86396591e+02] [-2.26469255e-01 9.73949052e-01 -1.16155637e-02 -3.73789579e+01] [-5.28171635e-02 -3.71799556e-04 9.98604130e-01 -1.24098437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:186.42, Y:-37.39, Z:-12.41 [[ 9.72636940e-01 2.26493179e-01 5.17515398e-02 1.86423265e+02] [-2.26193006e-01 9.74012684e-01 -1.16625650e-02 -3.73859473e+01] [-5.30481476e-02 -3.62394828e-04 9.98591890e-01 -1.24103825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:-37.40, Z:-12.41 [[ 9.72556491e-01 2.26819817e-01 5.18328291e-02 1.86448111e+02] [-2.26519368e-01 9.73936663e-01 -1.16770414e-02 -3.73962266e+01] [-5.31304769e-02 -3.84557242e-04 9.98587505e-01 -1.24139811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:-37.40, Z:-12.42 [[ 9.72530460e-01 2.26952568e-01 5.17400935e-02 1.86475117e+02] [-2.26653638e-01 9.73905732e-01 -1.16513159e-02 -3.74046274e+01] [-5.30342697e-02 -3.95820767e-04 9.98592614e-01 -1.24161344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.50, Y:-37.41, Z:-12.42 [[ 9.72321365e-01 2.27903484e-01 5.14894596e-02 1.86501002e+02] [-2.27608972e-01 9.73683624e-01 -1.15911785e-02 -3.74142302e+01] [-5.27761136e-02 -4.49112442e-04 9.98606269e-01 -1.24181491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:-37.42, Z:-12.42 [[ 9.72141053e-01 2.28653914e-01 5.15670499e-02 1.86528396e+02] [-2.28359821e-01 9.73507649e-01 -1.16038779e-02 -3.74217383e+01] [-5.28541897e-02 -4.95236156e-04 9.98602118e-01 -1.24203405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:-37.43, Z:-12.42 [[ 9.71642876e-01 2.30783565e-01 5.14690913e-02 1.86555535e+02] [-2.30493776e-01 9.73004918e-01 -1.15779793e-02 -3.74304159e+01] [-5.27516862e-02 -6.13644064e-04 9.98607472e-01 -1.24227102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.58, Y:-37.44, Z:-12.42 [[ 9.71368228e-01 2.31897368e-01 5.16466546e-02 1.86581585e+02] [-2.31607343e-01 9.72740021e-01 -1.16142169e-02 -3.74369454e+01] [-5.29320742e-02 -6.80063161e-04 9.98597884e-01 -1.24243270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:-37.44, Z:-12.43 [[ 9.71099178e-01 2.32957073e-01 5.19363944e-02 1.86608185e+02] [-2.32665548e-01 9.72486732e-01 -1.16746688e-02 -3.74437478e+01] [-5.32271511e-02 -7.46548391e-04 9.98582151e-01 -1.24263563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:-37.45, Z:-12.43 [[ 9.70796510e-01 2.34034963e-01 5.27425032e-02 1.86634063e+02] [-2.33736117e-01 9.72227834e-01 -1.18518893e-02 -3.74521203e+01] [-5.40514861e-02 -8.22055096e-04 9.98537812e-01 -1.24277389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73264000000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:186.66, Y:-37.46, Z:-12.43 [[ 9.70750221e-01 2.34108078e-01 5.32674082e-02 1.86661445e+02] [-2.33803632e-01 9.72210216e-01 -1.19648670e-02 -3.74581399e+01] [-5.45881904e-02 -8.39216277e-04 9.98508600e-01 -1.24279315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:-37.47, Z:-12.43 [[ 9.70671776e-01 2.34441455e-01 5.32306922e-02 1.86687103e+02] [-2.34138148e-01 9.72129859e-01 -1.19526214e-02 -3.74667334e+01] [-5.45493353e-02 -8.61263436e-04 9.98510705e-01 -1.24310526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:-37.48, Z:-12.43 [[ 9.70637378e-01 2.34486847e-01 5.36563008e-02 1.86713853e+02] [-2.34179020e-01 9.72118898e-01 -1.20430480e-02 -3.74752605e+01] [-5.49842404e-02 -8.75747391e-04 9.98486838e-01 -1.24328769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:-37.48, Z:-12.43 [[ 9.70588457e-01 2.34725302e-01 5.34984072e-02 1.86740863e+02] [-2.34419862e-01 9.72061335e-01 -1.20036894e-02 -3.74827448e+01] [-5.48213028e-02 -8.90446901e-04 9.98495785e-01 -1.24347505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:-37.49, Z:-12.44 [[ 9.70550341e-01 2.34947286e-01 5.32147420e-02 1.86767154e+02] [-2.34645626e-01 9.72007695e-01 -1.19361138e-02 -3.74893394e+01] [-5.45294962e-02 -9.02007177e-04 9.98511753e-01 -1.24368830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:-37.50, Z:-12.44 [[ 9.70002080e-01 2.37119451e-01 5.35754791e-02 1.86794081e+02] [-2.36817269e-01 9.71479950e-01 -1.20119924e-02 -3.74954907e+01] [-5.48957808e-02 -1.03594100e-03 9.98491552e-01 -1.24379786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:-37.50, Z:-12.44 [[ 9.69143094e-01 2.40550858e-01 5.38233045e-02 1.86821857e+02] [-2.40251382e-01 9.70635744e-01 -1.20634232e-02 -3.75011648e+01] [-5.51446900e-02 -1.23994000e-03 9.98477604e-01 -1.24388782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:-37.51, Z:-12.44 [[ 9.68611287e-01 2.42581090e-01 5.42824943e-02 1.86848937e+02] [-2.42279889e-01 9.70130164e-01 -1.21622466e-02 -3.75054535e+01] [-5.56114161e-02 -1.37106735e-03 9.98451546e-01 -1.24405601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.88, Y:-37.51, Z:-12.44 [[ 9.68101098e-01 2.44570373e-01 5.44572940e-02 1.86876368e+02] [-2.44270653e-01 9.69630392e-01 -1.21963294e-02 -3.75091361e+01] [-5.57863082e-02 -1.49503893e-03 9.98441612e-01 -1.24418059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:-37.51, Z:-12.44 [[ 9.67331892e-01 2.47736506e-01 5.38110940e-02 1.86902692e+02] [-2.47448959e-01 9.68826023e-01 -1.20477738e-02 -3.75126491e+01] [-5.51182616e-02 -1.66130340e-03 9.98478451e-01 -1.24443633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03264000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.93, Y:-37.52, Z:-12.45 [[ 9.67062218e-01 2.48729505e-01 5.40767955e-02 1.86929844e+02] [-2.48440933e-01 9.68571441e-01 -1.21023392e-02 -3.75178423e+01] [-5.53874486e-02 -1.73117452e-03 9.98463436e-01 -1.24463583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:-37.52, Z:-12.45 [[ 9.66842882e-01 2.49584744e-01 5.40582680e-02 1.86955645e+02] [-2.49274934e-01 9.68351974e-01 -1.25084397e-02 -3.75208519e+01] [-5.54693463e-02 -1.38167524e-03 9.98459435e-01 -1.24482816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:-37.53, Z:-12.45 [[ 9.67078725e-01 2.48630292e-01 5.42375940e-02 1.86984745e+02] [-2.48370542e-01 9.68595809e-01 -1.15859098e-02 -3.75261749e+01] [-5.54149144e-02 -2.26653376e-03 9.98460841e-01 -1.24504723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:-37.53, Z:-12.45 [[ 9.67233934e-01 2.48002172e-01 5.43455605e-02 1.87012439e+02] [-2.47710497e-01 9.68757960e-01 -1.21459788e-02 -3.75306297e+01] [-5.56599234e-02 -1.71396297e-03 9.98448314e-01 -1.24526193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.04, Y:-37.53, Z:-12.45 [[ 9.67656183e-01 2.46281033e-01 5.46549556e-02 1.87039746e+02] [-2.45983505e-01 9.69197092e-01 -1.22111699e-02 -3.75328393e+01] [-5.59788035e-02 -1.62800344e-03 9.98430630e-01 -1.24542724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.07, Y:-37.54, Z:-12.46 [[ 9.67693553e-01 2.45861701e-01 5.58678056e-02 1.87065640e+02] [-2.45694159e-01 9.69296277e-01 -9.95524757e-03 -3.75377424e+01] [-5.66000701e-02 -4.09276460e-03 9.98388542e-01 -1.24568103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.10, Y:-37.54, Z:-12.46 [[ 9.68273286e-01 2.44029485e-01 5.38187137e-02 1.87095208e+02] [-2.43606923e-01 9.69767474e-01 -1.43775639e-02 -3.75365042e+01] [-5.57001876e-02 8.10799826e-04 9.98447210e-01 -1.24584691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.12, Y:-37.54, Z:-12.46 [[ 9.68325840e-01 2.43709087e-01 5.43226239e-02 1.87122668e+02] [-2.43412107e-01 9.69847240e-01 -1.21192978e-02 -3.75437729e+01] [-5.56382298e-02 -1.48735516e-03 9.98449886e-01 -1.24606558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-37.55, Z:-12.46 [[ 9.68656968e-01 2.42649754e-01 5.31486100e-02 1.87148849e+02] [-2.42364469e-01 9.70112942e-01 -1.18466922e-02 -3.75487659e+01] [-5.44347513e-02 -1.40595368e-03 9.98516340e-01 -1.24632715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:-37.55, Z:-12.47 [[ 9.69014552e-01 2.41237593e-01 5.30586704e-02 1.87177592e+02] [-2.40951406e-01 9.70465176e-01 -1.18220951e-02 -3.75497416e+01] [-5.43435257e-02 -1.32877901e-03 9.98521415e-01 -1.24656872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:-37.55, Z:-12.47 [[ 9.69201798e-01 2.40500158e-01 5.29863080e-02 1.87203988e+02] [-2.40213860e-01 9.70648243e-01 -1.18021195e-02 -3.75531932e+01] [-5.42694783e-02 -1.28941013e-03 9.98525493e-01 -1.24675285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-37.56, Z:-12.47 [[ 9.69610646e-01 2.38797654e-01 5.32059718e-02 1.87231656e+02] [-2.38506682e-01 9.71068603e-01 -1.18461501e-02 -3.75553764e+01] [-5.44954816e-02 -1.20382650e-03 9.98513291e-01 -1.24696619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-37.56, Z:-12.47 [[ 9.69917134e-01 2.37470783e-01 5.35572640e-02 1.87258307e+02] [-2.37174151e-01 9.71394012e-01 -1.19203975e-02 -3.75586800e+01] [-5.48559517e-02 -1.14060083e-03 9.98493627e-01 -1.24714306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:187.29, Y:-37.56, Z:-12.47 [[ 9.70219614e-01 2.36117889e-01 5.40577809e-02 1.87286133e+02] [-2.35813862e-01 9.71723818e-01 -1.20268044e-02 -3.75615429e+01] [-5.53689769e-02 -1.07893252e-03 9.98465379e-01 -1.24728923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:-37.57, Z:-12.48 [[ 9.71017008e-01 2.32397817e-01 5.58321106e-02 1.87313019e+02] [-2.32254162e-01 9.72612202e-01 -9.13830796e-03 -3.75666364e+01] [-5.64267149e-02 -4.09378762e-03 9.98398351e-01 -1.24763616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-37.57, Z:-12.48 [[ 9.71454588e-01 2.31062561e-01 5.37222160e-02 1.87341213e+02] [-2.30574239e-01 9.72935982e-01 -1.52018472e-02 -3.75683137e+01] [-5.57808547e-02 2.38094513e-03 9.98440197e-01 -1.24777373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.37, Y:-37.57, Z:-12.48 [[ 9.72105013e-01 2.28313417e-01 5.37105825e-02 1.87367863e+02] [-2.28002295e-01 9.73587472e-01 -1.19326352e-02 -3.75710792e+01] [-5.50163309e-02 -6.46361559e-04 9.98485246e-01 -1.24801103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.40, Y:-37.57, Z:-12.48 [[ 9.72255165e-01 2.27526206e-01 5.43297212e-02 1.87395876e+02] [-2.27207095e-01 9.73771762e-01 -1.20619668e-02 -3.75744425e+01] [-5.56491619e-02 -6.16788613e-04 9.98450194e-01 -1.24817833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-37.58, Z:-12.48 [[ 9.72653457e-01 2.25841920e-01 5.42280431e-02 1.87423804e+02] [-2.25521613e-01 9.74163823e-01 -1.20353079e-02 -3.75788164e+01] [-5.55450748e-02 -5.23411955e-04 9.98456043e-01 -1.24847768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-37.58, Z:-12.49 [[ 9.72881117e-01 2.24869409e-01 5.41856101e-02 1.87451317e+02] [-2.24548231e-01 9.74388797e-01 -1.20234657e-02 -3.75833484e+01] [-5.55015610e-02 -4.69880165e-04 9.98458490e-01 -1.24863426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:-37.59, Z:-12.49 [[ 9.73191252e-01 2.23332374e-01 5.49676015e-02 1.87476604e+02] [-2.23137358e-01 9.74738364e-01 -9.73861428e-03 -3.75878574e+01] [-5.57539778e-02 -2.78779115e-03 9.98440645e-01 -1.24882902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-37.59, Z:-12.49 [[ 9.73416578e-01 2.22398799e-01 5.47625788e-02 1.87505760e+02] [-2.21935328e-01 9.74953845e-01 -1.44813695e-02 -3.75897400e+01] [-5.66116259e-02 1.94265422e-03 9.98394386e-01 -1.24900148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:-37.59, Z:-12.49 [[ 9.73715248e-01 2.20849976e-01 5.57126841e-02 1.87533070e+02] [-2.20505113e-01 9.75307754e-01 -1.23401498e-02 -3.75936837e+01] [-5.70623346e-02 -2.69139732e-04 9.98370581e-01 -1.24919819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:-37.60, Z:-12.49 [[ 9.73844243e-01 2.20273011e-01 5.57421755e-02 1.87561041e+02] [-2.19927553e-01 9.75438229e-01 -1.23341794e-02 -3.75985638e+01] [-5.70899358e-02 -2.47670670e-04 9.98369009e-01 -1.24940655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-37.60, Z:-12.50 [[ 9.74173080e-01 2.18842384e-01 5.56311208e-02 1.87588858e+02] [-2.18496211e-01 9.75760208e-01 -1.23053927e-02 -3.76024315e+01] [-5.69755755e-02 -1.67606839e-04 9.98375558e-01 -1.24966820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:-37.61, Z:-12.50 [[ 9.74296441e-01 2.18362145e-01 5.53571892e-02 1.87615471e+02] [-2.18056154e-01 9.75867489e-01 -1.15826570e-02 -3.76073515e+01] [-5.65504950e-02 -7.86034295e-04 9.98399431e-01 -1.24986496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-37.61, Z:-12.50 [[ 9.74368408e-01 2.17839393e-01 5.61444919e-02 1.87643444e+02] [-2.17538882e-01 9.75984093e-01 -1.14840845e-02 -3.76113070e+01] [-5.72978170e-02 -1.02388084e-03 9.98356606e-01 -1.25011093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:-37.61, Z:-12.50 [[ 9.74386289e-01 2.17941207e-01 5.54345482e-02 1.87671110e+02] [-2.17511563e-01 9.75960989e-01 -1.37429034e-02 -3.76146400e+01] [-5.70971015e-02 1.33324143e-03 9.98367740e-01 -1.25024258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:187.70, Y:-37.62, Z:-12.50 [[ 9.74290383e-01 2.18274830e-01 5.58063470e-02 1.87698928e+02] [-2.17927381e-01 9.75887325e-01 -1.23119987e-02 -3.76191118e+01] [-5.71481061e-02 -1.66269123e-04 9.98365698e-01 -1.25038702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.73, Y:-37.62, Z:-12.51 [[ 9.74130663e-01 2.19238173e-01 5.48094357e-02 1.87725910e+02] [-2.18904780e-01 9.75671345e-01 -1.20881521e-02 -3.76220199e+01] [-5.61261802e-02 -2.22607854e-04 9.98423659e-01 -1.25063027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:-37.63, Z:-12.51 [[ 9.74102841e-01 2.19392163e-01 5.46876106e-02 1.87752190e+02] [-2.19223736e-01 9.75631858e-01 -9.13406218e-03 -3.76282872e+01] [-5.53589168e-02 -3.09130638e-03 9.98461734e-01 -1.25072291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:-37.63, Z:-12.51 [[ 9.74095144e-01 2.19197188e-01 5.55989578e-02 1.87782099e+02] [-2.18689975e-01 9.75677187e-01 -1.51235387e-02 -3.76273285e+01] [-5.75616719e-02 2.57283090e-03 9.98338637e-01 -1.25105519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:187.81, Y:-37.63, Z:-12.51 [[ 9.74148722e-01 2.18751177e-01 5.64109062e-02 1.87809490e+02] [-2.18385715e-01 9.75780673e-01 -1.26394899e-02 -3.76328412e+01] [-5.78095753e-02 -6.59319694e-06 9.98327628e-01 -1.25118344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-37.64, Z:-12.51 [[ 9.74743529e-01 2.16114191e-01 5.63001618e-02 1.87837468e+02] [-2.16053981e-01 9.76354673e-01 -7.22698705e-03 -3.76405522e+01] [-5.65307805e-02 -5.11941523e-03 9.98387732e-01 -1.25131884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:-37.64, Z:-12.52 [[ 9.74864291e-01 2.15606143e-01 5.61569663e-02 1.87866345e+02] [-2.14964007e-01 9.76468612e-01 -1.73067950e-02 -3.76405366e+01] [-5.85669663e-02 4.80004996e-03 9.98271942e-01 -1.25164168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:-37.65, Z:-12.52 [[ 9.75515216e-01 2.12148558e-01 5.79918373e-02 1.87892473e+02] [-2.11764821e-01 9.77237414e-01 -1.27552886e-02 -3.76497906e+01] [-5.93778092e-02 1.62347042e-04 9.98235568e-01 -1.25192259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-37.66, Z:-12.52 [[ 9.75861961e-01 2.10452563e-01 5.83365401e-02 1.87919581e+02] [-2.10061975e-01 9.77604037e-01 -1.28184660e-02 -3.76566642e+01] [-5.97277162e-02 2.54764548e-04 9.98214674e-01 -1.25214648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.95, Y:-37.66, Z:-12.52 [[ 9.76505032e-01 2.07479159e-01 5.82264570e-02 1.87946459e+02] [-2.07085011e-01 9.78239343e-01 -1.27900740e-02 -3.76619575e+01] [-5.96130848e-02 4.31745113e-04 9.98221465e-01 -1.25226401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-37.67, Z:-12.53 [[ 9.76784724e-01 2.06100189e-01 5.84321459e-02 1.87972299e+02] [-2.05833931e-01 9.78529472e-01 -1.06049386e-02 -3.76695396e+01] [-5.93632567e-02 -1.66857626e-03 9.98235052e-01 -1.25261453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.00, Y:-37.68, Z:-12.53 [[ 9.77244168e-01 2.04315129e-01 5.70014380e-02 1.87999195e+02] [-2.03861213e-01 9.78903519e-01 -1.37297750e-02 -3.76763506e+01] [-5.86041090e-02 1.79696024e-03 9.98279685e-01 -1.25277615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:-37.68, Z:-12.53 [[ 9.77441836e-01 2.03437689e-01 5.67500167e-02 1.88026822e+02] [-2.03014458e-01 9.79086939e-01 -1.31869508e-02 -3.76839456e+01] [-5.82459230e-02 1.36840351e-03 9.98301327e-01 -1.25300548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:-37.69, Z:-12.53 [[ 9.77487910e-01 2.03451196e-01 5.59016737e-02 1.88052076e+02] [-2.03082872e-01 9.79084890e-01 -1.22525701e-02 -3.76923962e+01] [-5.72252840e-02 6.24066712e-04 9.98361096e-01 -1.25325727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.08, Y:-37.70, Z:-12.53 [[ 9.77395171e-01 2.03937148e-01 5.57523036e-02 1.88079639e+02] [-2.03571863e-01 9.78983806e-01 -1.22149074e-02 -3.76991427e+01] [-5.70716757e-02 5.89191141e-04 9.98369910e-01 -1.25344321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:-37.71, Z:-12.54 [[ 9.77241677e-01 2.04653674e-01 5.58173643e-02 1.88105452e+02] [-2.04288942e-01 9.78834295e-01 -1.22249881e-02 -3.77051592e+01] [-5.71378392e-02 5.43897616e-04 9.98366151e-01 -1.25366614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:-37.71, Z:-12.54 [[ 9.76885926e-01 2.06399939e-01 5.56143249e-02 1.88131928e+02] [-2.06040975e-01 9.78467616e-01 -1.21754331e-02 -3.77125026e+01] [-5.69298246e-02 4.35179515e-04 9.98378088e-01 -1.25391353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.16, Y:-37.72, Z:-12.54 [[ 9.76668635e-01 2.07339038e-01 5.59365883e-02 1.88157696e+02] [-2.06992120e-01 9.78269138e-01 -1.19898281e-02 -3.77194868e+01] [-5.72069974e-02 1.31656069e-04 9.98362330e-01 -1.25415053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:-37.73, Z:-12.54 [[ 9.76358033e-01 2.08587770e-01 5.67109607e-02 1.88184854e+02] [-2.08207165e-01 9.78003524e-01 -1.26049031e-02 -3.77274978e+01] [-5.80927480e-02 4.99270041e-04 9.98311065e-01 -1.25438116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:-37.73, Z:-12.55 [[ 9.76222474e-01 2.09011903e-01 5.74778680e-02 1.88210680e+02] [-2.08634177e-01 9.77913059e-01 -1.25630415e-02 -3.77332694e+01] [-5.88341829e-02 2.72475809e-04 9.98267732e-01 -1.25454235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-37.74, Z:-12.55 [[ 9.76072535e-01 2.09569753e-01 5.79907276e-02 1.88236665e+02] [-2.09186536e-01 9.77793671e-01 -1.26700554e-02 -3.77400517e+01] [-5.93582268e-02 2.36013712e-04 9.98236718e-01 -1.25480830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-37.75, Z:-12.55 [[ 9.76186531e-01 2.08965325e-01 5.82524677e-02 1.88262425e+02] [-2.08577863e-01 9.77923014e-01 -1.27222026e-02 -3.77472645e+01] [-5.96249280e-02 2.69067591e-04 9.98220815e-01 -1.25505063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.29, Y:-37.76, Z:-12.55 [[ 9.76304637e-01 2.07988302e-01 5.97504913e-02 1.88289408e+02] [-2.07665844e-01 9.78130741e-01 -1.16254239e-02 -3.77550825e+01] [-6.08617445e-02 -1.05818100e-03 9.98145645e-01 -1.25527458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:-37.76, Z:-12.55 [[ 9.77293297e-01 2.03479469e-01 5.91093614e-02 1.88317348e+02] [-2.02989980e-01 9.79077345e-01 -1.42344727e-02 -3.77637944e+01] [-6.07690595e-02 1.91264662e-03 9.98150020e-01 -1.25543845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:-37.77, Z:-12.56 [[ 9.78388666e-01 1.98543807e-01 5.77578938e-02 1.88342932e+02] [-1.97896259e-01 9.80079321e-01 -1.67807813e-02 -3.77724928e+01] [-5.99390375e-02 4.98805507e-03 9.98189577e-01 -1.25551406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.37, Y:-37.79, Z:-12.56 [[ 9.78950972e-01 1.94782523e-01 6.09488541e-02 1.88369833e+02] [-1.94598611e-01 9.80841702e-01 -8.99642020e-03 -3.77855973e+01] [-6.15335232e-02 -3.05350805e-03 9.98100346e-01 -1.25586686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-37.79, Z:-12.56 [[ 9.79535746e-01 1.92183465e-01 5.97932935e-02 1.88395558e+02] [-1.91746008e-01 9.81358164e-01 -1.30239246e-02 -3.77928690e+01] [-6.11816197e-02 1.29227438e-03 9.98125813e-01 -1.25605944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.42, Y:-37.81, Z:-12.56 [[ 9.80215523e-01 1.88392174e-01 6.07117515e-02 1.88422194e+02] [-1.87934227e-01 9.82092661e-01 -1.32186204e-02 -3.78053265e+01] [-6.21148502e-02 1.54728082e-03 9.98067809e-01 -1.25618111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:-37.82, Z:-12.56 [[ 9.80481594e-01 1.87146860e-01 6.02652193e-02 1.88448953e+02] [-1.86693460e-01 9.82330625e-01 -1.31185222e-02 -3.78153269e+01] [-6.16554607e-02 1.61134731e-03 9.98096192e-01 -1.25631470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:-37.83, Z:-12.57 [[ 9.80586042e-01 1.86126280e-01 6.17091795e-02 1.88475241e+02] [-1.85649122e-01 9.82524340e-01 -1.34285214e-02 -3.78294815e+01] [-6.31301716e-02 1.71156571e-03 9.98003834e-01 -1.25658141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:-37.84, Z:-12.57 [[ 9.80520584e-01 1.86320865e-01 6.21604280e-02 1.88503192e+02] [-1.85837282e-01 9.82487464e-01 -1.35236122e-02 -3.78395411e+01] [-6.35915723e-02 1.70845511e-03 9.97974545e-01 -1.25675380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:-37.85, Z:-12.57 [[ 9.80239469e-01 1.88016989e-01 6.14832854e-02 1.88529215e+02] [-1.87547316e-01 9.82164506e-01 -1.33748734e-02 -3.78522924e+01] [-6.29014041e-02 1.57955361e-03 9.98018496e-01 -1.25697983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.56, Y:-37.86, Z:-12.57 [[ 9.79964907e-01 1.89447926e-01 6.14675837e-02 1.88557833e+02] [-1.88981449e-01 9.81889647e-01 -1.33691438e-02 -3.78613454e+01] [-6.28871406e-02 1.48505875e-03 9.98019540e-01 -1.25713424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:-37.87, Z:-12.57 [[ 9.79633011e-01 1.91076664e-01 6.17160659e-02 1.88585309e+02] [-1.90644260e-01 9.81574750e-01 -1.28753962e-02 -3.78716387e+01] [-6.30391197e-02 8.47349489e-04 9.98010697e-01 -1.25743606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-37.88, Z:-12.58 [[ 9.79102432e-01 1.93977954e-01 6.10817505e-02 1.88611856e+02] [-1.93476867e-01 9.81003933e-01 -1.40707259e-02 -3.78833213e+01] [-6.26508481e-02 1.95877621e-03 9.98033584e-01 -1.25761178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.64, Y:-37.90, Z:-12.58 [[ 9.78467458e-01 1.96805563e-01 6.22013158e-02 1.88637097e+02] [-1.96371386e-01 9.80442365e-01 -1.30785032e-02 -3.78960979e+01] [-6.35587274e-02 5.82331213e-04 9.97977930e-01 -1.25780960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:-37.91, Z:-12.58 [[ 9.78399209e-01 1.97187547e-01 6.20649676e-02 1.88664683e+02] [-1.96737696e-01 9.80365425e-01 -1.33383845e-02 -3.79056914e+01] [-6.34765117e-02 8.39746122e-04 9.97982979e-01 -1.25801010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:-37.92, Z:-12.58 [[ 9.78194309e-01 1.98241286e-01 6.19377662e-02 1.88692451e+02] [-1.97786217e-01 9.80152826e-01 -1.34555054e-02 -3.79151210e+01] [-6.33759132e-02 9.11662304e-04 9.97989310e-01 -1.25822950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:-37.93, Z:-12.58 [[ 9.77796690e-01 2.00503310e-01 6.09266417e-02 1.88720441e+02] [-2.00067481e-01 9.79692737e-01 -1.32342089e-02 -3.79276193e+01] [-6.23428910e-02 7.50925859e-04 9.98054508e-01 -1.25844954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:-37.94, Z:-12.59 [[ 9.77543847e-01 2.01957478e-01 6.01764379e-02 1.88748421e+02] [-2.01535074e-01 9.79394075e-01 -1.30713370e-02 -3.79370471e+01] [-6.15763010e-02 6.50142244e-04 9.98102167e-01 -1.25870281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:-37.95, Z:-12.59 [[ 9.76851660e-01 2.05393070e-01 5.97872984e-02 1.88776539e+02] [-2.04982580e-01 9.78679468e-01 -1.29861579e-02 -3.79481254e+01] [-6.11798683e-02 4.30195246e-04 9.98126665e-01 -1.25887347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:-37.96, Z:-12.59 [[ 9.75814347e-01 2.10077414e-01 6.04470056e-02 1.88803923e+02] [-2.09666866e-01 9.77684745e-01 -1.31279944e-02 -3.79583812e+01] [-6.18560104e-02 1.36751116e-04 9.98085074e-01 -1.25900258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:-37.97, Z:-12.59 [[ 9.75179422e-01 2.12781758e-01 6.12292244e-02 1.88831122e+02] [-2.12365973e-01 9.77099750e-01 -1.32955407e-02 -3.79666685e+01] [-6.26561084e-02 -3.74661183e-05 9.98035175e-01 -1.25917509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:-37.97, Z:-12.59 [[ 9.75186803e-01 2.12747795e-01 6.12296972e-02 1.88859734e+02] [-2.12332080e-01 9.77107146e-01 -1.32933628e-02 -3.79727945e+01] [-6.26561083e-02 -3.75169645e-05 9.98035175e-01 -1.25937590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.89, Y:-37.98, Z:-12.60 [[ 9.74529658e-01 2.15527345e-01 6.19670027e-02 1.88887443e+02] [-2.15107299e-01 9.76497780e-01 -1.34512165e-02 -3.79805680e+01] [-6.34097456e-02 -2.20945198e-04 9.97987553e-01 -1.25952914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.92, Y:-37.99, Z:-12.60 [[ 9.73222204e-01 2.21319046e-01 6.21001006e-02 1.88915372e+02] [-2.20909149e-01 9.75201270e-01 -1.34770361e-02 -3.79892449e+01] [-6.35428217e-02 -6.02329648e-04 9.97978931e-01 -1.25972685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:-38.00, Z:-12.60 [[ 9.72671014e-01 2.23796374e-01 6.18569505e-02 1.88943612e+02] [-2.23394881e-01 9.74635624e-01 -1.34211815e-02 -3.79960975e+01] [-6.32915993e-02 -7.64131926e-04 9.97994784e-01 -1.25994925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.97, Y:-38.00, Z:-12.60 [[ 9.71893805e-01 2.27349986e-01 6.11098611e-02 1.88970611e+02] [-2.26965340e-01 9.73812616e-01 -1.32560725e-02 -3.80021164e+01] [-6.25233216e-02 -9.86325596e-04 9.98043016e-01 -1.26015007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:-38.01, Z:-12.60 [[ 9.71650629e-01 2.28512175e-01 6.06402521e-02 1.88998949e+02] [-2.28135926e-01 9.73540482e-01 -1.31502833e-02 -3.80082621e+01] [-6.20407401e-02 -1.05673901e-03 9.98073058e-01 -1.26033080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-38.01, Z:-12.61 [[ 9.71502783e-01 2.29145548e-01 6.06189786e-02 1.89026900e+02] [-2.28770980e-01 9.73391549e-01 -1.31426880e-02 -3.80145184e+01] [-6.20175900e-02 -1.09970516e-03 9.98074451e-01 -1.26053900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.06, Y:-38.02, Z:-12.61 [[ 9.71534143e-01 2.28980302e-01 6.07406829e-02 1.89055489e+02] [-2.28604098e-01 9.73430441e-01 -1.31659622e-02 -3.80208907e+01] [-6.21415758e-02 -1.09438722e-03 9.98066745e-01 -1.26068395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-38.03, Z:-12.61 [[ 9.71739905e-01 2.28078131e-01 6.08434255e-02 1.89082001e+02] [-2.27699078e-01 9.73642276e-01 -1.31851626e-02 -3.80271904e+01] [-6.22469785e-02 -1.04144322e-03 9.98060233e-01 -1.26092914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:-38.03, Z:-12.61 [[ 9.72303222e-01 2.25557360e-01 6.12398731e-02 1.89110234e+02] [-2.25168603e-01 9.74229483e-01 -1.32670397e-02 -3.80328742e+01] [-6.26541684e-02 -8.89711205e-04 9.98034901e-01 -1.26108535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:-38.04, Z:-12.61 [[ 9.72954687e-01 2.22697524e-01 6.13595098e-02 1.89137719e+02] [-2.22301764e-01 9.74887331e-01 -1.32897317e-02 -3.80405040e+01] [-6.27781991e-02 -7.10020482e-04 9.98027251e-01 -1.26130970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:-38.05, Z:-12.62 [[ 9.73304730e-01 2.21132026e-01 6.14697450e-02 1.89164251e+02] [-2.20731863e-01 9.75243689e-01 -1.33113833e-02 -3.80474600e+01] [-6.28915540e-02 -6.12298996e-04 9.98020179e-01 -1.26152361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264000000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:189.19, Y:-38.05, Z:-12.62 [[ 9.73568106e-01 2.19991142e-01 6.13925146e-02 1.89192775e+02] [-2.19589958e-01 9.75501719e-01 -1.32908302e-02 -3.80537097e+01] [-6.28123685e-02 -5.41651358e-04 9.98025207e-01 -1.26157988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:-38.06, Z:-12.62 [[ 9.74188326e-01 2.17488645e-01 6.04631737e-02 1.89221208e+02] [-2.17094900e-01 9.76062778e-01 -1.30865462e-02 -3.80621767e+01] [-6.18620285e-02 -3.77486086e-04 9.98084639e-01 -1.26194058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-38.07, Z:-12.62 [[ 9.74439107e-01 2.16456085e-01 6.01264502e-02 1.89249976e+02] [-2.16064846e-01 9.76292306e-01 -1.30121540e-02 -3.80688143e+01] [-6.15175506e-02 -3.11660501e-04 9.98105953e-01 -1.26211738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.28, Y:-38.07, Z:-12.62 [[ 9.74635253e-01 2.15318329e-01 6.10257461e-02 1.89277927e+02] [-2.14913153e-01 9.76543884e-01 -1.32052876e-02 -3.80749450e+01] [-6.24376595e-02 -2.44896686e-04 9.98048836e-01 -1.26220675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:-38.08, Z:-12.62 [[ 9.74720116e-01 2.14864363e-01 6.12698980e-02 1.89306941e+02] [-2.14455188e-01 9.76643875e-01 -1.32557444e-02 -3.80820614e+01] [-6.26870577e-02 -2.19006758e-04 9.98033208e-01 -1.26242525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:-38.09, Z:-12.63 [[ 9.74757644e-01 2.14637417e-01 6.14679941e-02 1.89335329e+02] [-2.14225233e-01 9.76693778e-01 -1.32970911e-02 -3.80894407e+01] [-6.28894607e-02 -2.06554223e-04 9.98020477e-01 -1.26260784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.36, Y:-38.10, Z:-12.63 [[ 9.74741121e-01 2.14866968e-01 6.09256278e-02 1.89364151e+02] [-2.14462574e-01 9.76643301e-01 -1.31782880e-02 -3.80960366e+01] [-6.23341850e-02 -2.20847742e-04 9.98055309e-01 -1.26266996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-38.10, Z:-12.63 [[ 9.74678371e-01 2.15398198e-01 6.00473876e-02 1.89392816e+02] [-2.15006502e-01 9.76526268e-01 -1.29865976e-02 -3.81046519e+01] [-6.14351410e-02 -2.52822942e-04 9.98111046e-01 -1.26294712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:-38.11, Z:-12.63 [[ 9.74561769e-01 2.16023904e-01 5.96911311e-02 1.89421118e+02] [-2.15637951e-01 9.76388032e-01 -1.29106456e-02 -3.81116691e+01] [-6.10707141e-02 -2.89451622e-04 9.98133400e-01 -1.26312741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.45, Y:-38.12, Z:-12.63 [[ 9.74189774e-01 2.17938230e-01 5.87980630e-02 1.89450123e+02] [-2.17567317e-01 9.75962481e-01 -1.27160753e-02 -3.81176634e+01] [-6.01560224e-02 -4.04666274e-04 9.98188905e-01 -1.26315983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:189.48, Y:-38.12, Z:-12.63 [[ 9.74037851e-01 2.18793874e-01 5.81335105e-02 1.89478172e+02] [-2.18432898e-01 9.75770995e-01 -1.25711533e-02 -3.81230503e+01] [-5.94754847e-02 -4.53492019e-04 9.98229663e-01 -1.26339457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-38.13, Z:-12.64 [[ 9.73954738e-01 2.19307533e-01 5.75879637e-02 1.89505717e+02] [-2.18954368e-01 9.75655663e-01 -1.24503787e-02 -3.81290711e+01] [-5.89164847e-02 -4.83030875e-04 9.98262798e-01 -1.26372166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-38.14, Z:-12.64 [[ 9.73832822e-01 2.19810348e-01 5.77325360e-02 1.89532141e+02] [-2.19456451e-01 9.75542487e-01 -1.24788945e-02 -3.81361304e+01] [-5.90635318e-02 -5.17420389e-04 9.98254092e-01 -1.26392326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:-38.14, Z:-12.64 [[ 9.73782711e-01 2.20019466e-01 5.77811992e-02 1.89559685e+02] [-2.19665557e-01 9.75495335e-01 -1.24857474e-02 -3.81425871e+01] [-5.91123978e-02 -5.34134360e-04 9.98251190e-01 -1.26411880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.59, Y:-38.15, Z:-12.64 [[ 9.73844087e-01 2.19954019e-01 5.69905662e-02 1.89587636e+02] [-2.19609783e-01 9.75510099e-01 -1.23121792e-02 -3.81476799e+01] [-5.83029862e-02 -5.25542987e-04 9.98298796e-01 -1.26422063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.62, Y:-38.15, Z:-12.65 [[ 9.73960714e-01 2.19510864e-01 5.67054556e-02 1.89616721e+02] [-2.19169489e-01 9.75609928e-01 -1.22476152e-02 -3.81540773e+01] [-5.80108900e-02 -4.99409695e-04 9.98315825e-01 -1.26455151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:189.65, Y:-38.16, Z:-12.65 [[ 9.74184953e-01 2.18690424e-01 5.60194220e-02 1.89645472e+02] [-2.18355982e-01 9.75794189e-01 -1.20981672e-02 -3.81587732e+01] [-5.73091798e-02 -4.46323458e-04 9.98356379e-01 -1.26464994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:-38.16, Z:-12.65 [[ 9.74371371e-01 2.17855065e-01 5.60321442e-02 1.89673955e+02] [-2.17519222e-01 9.75981050e-01 -1.20986495e-02 -3.81644983e+01] [-5.73220631e-02 -3.99490737e-04 9.98355659e-01 -1.26496360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:-38.17, Z:-12.65 [[ 9.74606019e-01 2.16927515e-01 5.55478193e-02 1.89701838e+02] [-2.16596023e-01 9.76187654e-01 -1.19928091e-02 -3.81707448e+01] [-5.68266656e-02 -3.43172851e-04 9.98384000e-01 -1.26519189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.73, Y:-38.18, Z:-12.65 [[ 9.74632652e-01 2.16848652e-01 5.53882334e-02 1.89730678e+02] [-2.16519063e-01 9.76205177e-01 -1.19561058e-02 -3.81774538e+01] [-5.66629456e-02 -3.39797281e-04 9.98393307e-01 -1.26534082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:-38.18, Z:-12.66 [[ 9.74630459e-01 2.16826686e-01 5.55126769e-02 1.89758942e+02] [-2.16495650e-01 9.76210055e-01 -1.19817049e-02 -3.81826788e+01] [-5.67899868e-02 -3.40518500e-04 9.98386088e-01 -1.26551966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:-38.19, Z:-12.66 [[ 9.74529637e-01 2.17461435e-01 5.47951711e-02 1.89787948e+02] [-2.17140031e-01 9.76068842e-01 -1.18246687e-02 -3.81871148e+01] [-5.60552686e-02 -3.74735032e-04 9.98427597e-01 -1.26567649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:-38.19, Z:-12.66 [[ 9.74489593e-01 2.17632949e-01 5.48263899e-02 1.89816006e+02] [-2.17311521e-01 9.76030610e-01 -1.18301458e-02 -3.81927594e+01] [-5.60868643e-02 -3.86052235e-04 9.98425818e-01 -1.26589100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:-38.20, Z:-12.66 [[ 9.74333857e-01 2.18447130e-01 5.43542709e-02 1.89845074e+02] [-2.18132608e-01 9.75848690e-01 -1.17260493e-02 -3.81986158e+01] [-5.56030658e-02 -4.31351958e-04 9.98452860e-01 -1.26608618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:-38.20, Z:-12.66 [[ 9.74253654e-01 2.18768241e-01 5.45002291e-02 1.89872289e+02] [-2.18452576e-01 9.75776743e-01 -1.17566646e-02 -3.82037967e+01] [-5.57520409e-02 -4.51741974e-04 9.98444543e-01 -1.26632730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:-38.21, Z:-12.66 [[ 9.74080285e-01 2.19455246e-01 5.48360667e-02 1.89900117e+02] [-2.19136993e-01 9.75622441e-01 -1.18250359e-02 -3.82094285e+01] [-5.60943634e-02 -4.98076451e-04 9.98425347e-01 -1.26646517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:189.93, Y:-38.22, Z:-12.67 [[ 9.73926333e-01 2.19889300e-01 5.58228735e-02 1.89928186e+02] [-2.19560355e-01 9.75524684e-01 -1.20350173e-02 -3.82155323e+01] [-5.71029626e-02 -5.35269596e-04 9.98368151e-01 -1.26661637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:-38.22, Z:-12.67 [[ 9.73675011e-01 2.20741483e-01 5.68345944e-02 1.89955345e+02] [-2.20402105e-01 9.75332169e-01 -1.22504181e-02 -3.82216692e+01] [-5.81367837e-02 -5.98538239e-04 9.98308447e-01 -1.26687724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:-38.23, Z:-12.67 [[ 9.73620744e-01 2.21154492e-01 5.61545878e-02 1.89983795e+02] [-2.20824096e-01 9.75238590e-01 -1.21000637e-02 -3.82271585e+01] [-5.74401045e-02 -6.19413074e-04 9.98348762e-01 -1.26700975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.01, Y:-38.23, Z:-12.67 [[ 9.73538176e-01 2.21627358e-01 5.57201427e-02 1.90012054e+02] [-2.21302987e-01 9.75131221e-01 -1.20037258e-02 -3.82321805e+01] [-5.69948048e-02 -6.44948695e-04 9.98374267e-01 -1.26720941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:-38.24, Z:-12.67 [[ 9.73362801e-01 2.22401636e-01 5.56989243e-02 1.90039165e+02] [-2.22078934e-01 9.74954887e-01 -1.19964413e-02 -3.82366453e+01] [-5.69719666e-02 -6.92668022e-04 9.98375538e-01 -1.26744258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:-38.24, Z:-12.68 [[ 9.73254435e-01 2.23106963e-01 5.47639230e-02 1.90067431e+02] [-2.22796328e-01 9.74793700e-01 -1.17914775e-02 -3.82411564e+01] [-5.60142878e-02 -7.25093179e-04 9.98429704e-01 -1.26760301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:-38.25, Z:-12.68 [[ 9.73247146e-01 2.23430025e-01 5.35631983e-02 1.90096223e+02] [-2.23133502e-01 9.74719699e-01 -1.15303581e-02 -3.82462807e+01] [-5.47853327e-02 -7.29855904e-04 9.98497889e-01 -1.26779557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:-38.25, Z:-12.68 [[ 9.73235024e-01 2.23662049e-01 5.28098188e-02 1.90123405e+02] [-2.23374291e-01 9.74666480e-01 -1.13656669e-02 -3.82512006e+01] [-5.40140286e-02 -7.34890687e-04 9.98539906e-01 -1.26801014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:-38.25, Z:-12.68 [[ 9.73276641e-01 2.23673290e-01 5.19888395e-02 1.90151061e+02] [-2.23394598e-01 9.74663907e-01 -1.11858332e-02 -3.82544121e+01] [-5.31736176e-02 -7.27115715e-04 9.98585018e-01 -1.26817031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:-38.26, Z:-12.68 [[ 9.73500913e-01 2.22715863e-01 5.19000706e-02 1.90177866e+02] [-2.22436941e-01 9.74883165e-01 -1.11633877e-02 -3.82562098e+01] [-5.30827687e-02 -6.76924836e-04 9.98589887e-01 -1.26825720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.21, Y:-38.26, Z:-12.68 [[ 9.73602946e-01 2.22128954e-01 5.24979234e-02 1.90205023e+02] [-2.21843043e-01 9.75017074e-01 -1.12858360e-02 -3.82608936e+01] [-5.36932826e-02 -6.58375909e-04 9.98557258e-01 -1.26832392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:-38.27, Z:-12.68 [[ 9.73988490e-01 2.20022093e-01 5.41913270e-02 1.90232203e+02] [-2.19714408e-01 9.75494726e-01 -1.16455330e-02 -3.82666086e+01] [-5.54256282e-02 -5.64000208e-04 9.98462659e-01 -1.26845425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-38.27, Z:-12.69 [[ 9.74184827e-01 2.18923215e-01 5.51048890e-02 1.90260107e+02] [-2.18603507e-01 9.75741955e-01 -1.18382704e-02 -3.82719532e+01] [-5.63598243e-02 -5.13458591e-04 9.98410390e-01 -1.26860003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:-38.28, Z:-12.69 [[ 9.74493534e-01 2.17263968e-01 5.62024972e-02 1.90287386e+02] [-2.16928791e-01 9.76112793e-01 -1.20712509e-02 -3.82773249e+01] [-5.74826244e-02 -4.28583884e-04 9.98346415e-01 -1.26863658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.31, Y:-38.28, Z:-12.69 [[ 9.74651838e-01 2.16462994e-01 5.65470282e-02 1.90314281e+02] [-2.16122556e-01 9.76290747e-01 -1.21416082e-02 -3.82831091e+01] [-5.78345493e-02 -3.87247521e-04 9.98326107e-01 -1.26877945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:-38.29, Z:-12.69 [[ 9.74928381e-01 2.15357045e-01 5.59999612e-02 1.90342568e+02] [-2.15021553e-01 9.76535324e-01 -1.20204960e-02 -3.82893823e+01] [-5.72746388e-02 -3.22075945e-04 9.98358409e-01 -1.26904383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:-38.30, Z:-12.69 [[ 9.75290602e-01 2.14005263e-01 5.48633634e-02 1.90371223e+02] [-2.13681273e-01 9.76832478e-01 -1.17738673e-02 -3.82952526e+01] [-5.61119847e-02 -2.40331232e-04 9.98424453e-01 -1.26923907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-38.30, Z:-12.69 [[ 9.75411876e-01 2.13419993e-01 5.49870845e-02 1.90398194e+02] [-2.13093757e-01 9.76960523e-01 -1.17977989e-02 -3.83009548e+01] [-5.62380970e-02 -2.09691300e-04 9.98417364e-01 -1.26944377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-38.31, Z:-12.70 [[ 9.75621601e-01 2.12765916e-01 5.37880752e-02 1.90426317e+02] [-2.12452979e-01 9.77103186e-01 -1.15367334e-02 -3.83076127e+01] [-5.50111232e-02 -1.71950455e-04 9.98485727e-01 -1.26957405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87264000000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:190.45, Y:-38.31, Z:-12.70 [[ 9.75635152e-01 2.12635218e-01 5.40584351e-02 1.90453306e+02] [-2.12319070e-01 9.77131637e-01 -1.15920919e-02 -3.83132653e+01] [-5.52870942e-02 -1.67984276e-04 9.98470485e-01 -1.26978212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:-38.32, Z:-12.70 [[ 9.75665895e-01 2.12610647e-01 5.35982655e-02 1.90480605e+02] [-2.12300014e-01 9.77136983e-01 -1.14899878e-02 -3.83195171e+01] [-5.48157412e-02 -1.68523240e-04 9.98496473e-01 -1.26997438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:190.51, Y:-38.32, Z:-12.70 [[ 9.75475940e-01 2.13488223e-01 5.35674237e-02 1.90507532e+02] [-2.13179453e-01 9.76945613e-01 -1.14800182e-02 -3.83249180e+01] [-5.47833082e-02 -2.20992576e-04 9.98498243e-01 -1.27013010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:-38.33, Z:-12.70 [[ 9.75006052e-01 2.15641356e-01 5.34976972e-02 1.90535335e+02] [-2.15336815e-01 9.76472573e-01 -1.14616629e-02 -3.83305204e+01] [-5.47106426e-02 -3.44833000e-04 9.98502192e-01 -1.27024906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:-38.34, Z:-12.70 [[ 9.74746714e-01 2.16838776e-01 5.33834122e-02 1.90563753e+02] [-2.16537474e-01 9.76207342e-01 -1.14345292e-02 -3.83366628e+01] [-5.45927282e-02 -4.13739429e-04 9.98508619e-01 -1.27044258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:-38.34, Z:-12.71 [[ 9.74489983e-01 2.18074013e-01 5.30377085e-02 1.90590505e+02] [-2.17778568e-01 9.75932115e-01 -1.13579488e-02 -3.83422616e+01] [-5.42380765e-02 -4.82268922e-04 9.98527916e-01 -1.27066606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:-38.35, Z:-12.71 [[ 9.74507393e-01 2.17996042e-01 5.30383465e-02 1.90619133e+02] [-2.17700644e-01 9.75949535e-01 -1.13549685e-02 -3.83482831e+01] [-5.42380878e-02 -4.80981398e-04 9.98527916e-01 -1.27086684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:-38.35, Z:-12.71 [[ 9.74122191e-01 2.19984992e-01 5.18898879e-02 1.90646745e+02] [-2.19705326e-01 9.75503082e-01 -1.11043598e-02 -3.83528775e+01] [-5.30615381e-02 -5.83481426e-04 9.98591074e-01 -1.27108648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:-38.36, Z:-12.71 [[ 9.73992821e-01 2.20439636e-01 5.23865669e-02 1.90673721e+02] [-2.20155375e-01 9.75400424e-01 -1.12082033e-02 -3.83571524e+01] [-5.35686118e-02 -6.16474771e-04 9.98563981e-01 -1.27131401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:-38.36, Z:-12.71 [[ 9.73939615e-01 2.20561663e-01 5.28599977e-02 1.90701784e+02] [-2.20272602e-01 9.75372828e-01 -1.13060797e-02 -3.83614613e+01] [-5.40518932e-02 -6.32170353e-04 9.98537928e-01 -1.27142345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:-38.37, Z:-12.72 [[ 9.74094583e-01 2.19750581e-01 5.33800081e-02 1.90729270e+02] [-2.19454721e-01 9.75555907e-01 -1.14147978e-02 -3.83670112e+01] [-5.45835907e-02 -5.95402129e-04 9.98509027e-01 -1.27165689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.76, Y:-38.37, Z:-12.72 [[ 9.74671525e-01 2.17029878e-01 5.39763879e-02 1.90756475e+02] [-2.16723405e-01 9.76164857e-01 -1.15385183e-02 -3.83706914e+01] [-5.51940562e-02 -4.51681375e-04 9.98475544e-01 -1.27176538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:190.78, Y:-38.38, Z:-12.72 [[ 9.75057570e-01 2.15097216e-01 5.47350226e-02 1.90784766e+02] [-2.14779221e-01 9.76592579e-01 -1.16970780e-02 -3.83752987e+01] [-5.59698258e-02 -3.50621067e-04 9.98432399e-01 -1.27190338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:-38.38, Z:-12.72 [[ 9.75494160e-01 2.13064322e-01 5.49066397e-02 1.90812720e+02] [-2.12741263e-01 9.77038146e-01 -1.17310200e-02 -3.83806726e+01] [-5.61453433e-02 -2.37366347e-04 9.98422578e-01 -1.27210095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:-38.39, Z:-12.72 [[ 9.76413355e-01 2.08818218e-01 5.48808964e-02 1.90839827e+02] [-2.08488899e-01 9.77954473e-01 -1.17229355e-02 -3.83860750e+01] [-5.61189806e-02 4.37310508e-06 9.98424088e-01 -1.27228040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:-38.39, Z:-12.73 [[ 9.77271383e-01 2.04842350e-01 5.45917205e-02 1.90867365e+02] [-2.04510509e-01 9.78794953e-01 -1.16572587e-02 -3.83930388e+01] [-5.58220008e-02 2.27724757e-04 9.98440710e-01 -1.27250593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:-38.40, Z:-12.73 [[ 9.77669537e-01 2.02930647e-01 5.46024543e-02 1.90894428e+02] [-2.02595843e-01 9.79193056e-01 -1.16569301e-02 -3.83991394e+01] [-5.58318925e-02 3.34395187e-04 9.98440127e-01 -1.27273474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:-38.40, Z:-12.73 [[ 9.78048573e-01 2.01236526e-01 5.40818703e-02 1.90922983e+02] [-2.00905688e-01 9.79542588e-01 -1.15422283e-02 -3.84049820e+01] [-5.52982131e-02 4.23504540e-04 9.98469793e-01 -1.27292813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:-38.41, Z:-12.73 [[ 9.78537363e-01 1.99142585e-01 5.29798131e-02 1.90950998e+02] [-1.98822171e-01 9.79970383e-01 -1.13045272e-02 -3.84121966e+01] [-5.41698605e-02 5.28340759e-04 9.98531595e-01 -1.27318808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.98, Y:-38.42, Z:-12.73 [[ 9.78636894e-01 1.98700165e-01 5.28022122e-02 1.90979039e+02] [-1.98381395e-01 9.80060174e-01 -1.12640364e-02 -3.84191184e+01] [-5.39875112e-02 5.48425081e-04 9.98541460e-01 -1.27337881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:-38.43, Z:-12.74 [[ 9.78703323e-01 1.98566832e-01 5.20674362e-02 1.91006361e+02] [-1.98256845e-01 9.80087198e-01 -1.11043992e-02 -3.84262039e+01] [-5.32355931e-02 5.45186820e-04 9.98581832e-01 -1.27351126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:-38.43, Z:-12.74 [[ 9.78647263e-01 1.98759534e-01 5.23849418e-02 1.91034205e+02] [-1.98446078e-01 9.80048141e-01 -1.11711456e-02 -3.84324939e+01] [-5.35601365e-02 5.37024789e-04 9.98564481e-01 -1.27369337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:-38.44, Z:-12.74 [[ 9.78401915e-01 2.00002952e-01 5.22351578e-02 1.91062716e+02] [-1.99693212e-01 9.79795184e-01 -1.11363500e-02 -3.84409096e+01] [-5.34070589e-02 4.64819738e-04 9.98572716e-01 -1.27386288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:-38.45, Z:-12.74 [[ 9.78264203e-01 2.00697874e-01 5.21489407e-02 1.91091218e+02] [-2.00390191e-01 9.79653093e-01 -1.11170522e-02 -3.84474649e+01] [-5.33190398e-02 4.25278027e-04 9.98577438e-01 -1.27400928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:-38.45, Z:-12.74 [[ 9.77927289e-01 2.02063133e-01 5.31855980e-02 1.91118472e+02] [-2.01745260e-01 9.79372434e-01 -1.13351469e-02 -3.84547042e+01] [-5.43789239e-02 3.55007149e-04 9.98520309e-01 -1.27423981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:-38.46, Z:-12.74 [[ 9.77760516e-01 2.02857214e-01 5.32289814e-02 1.91146880e+02] [-2.02540114e-01 9.79208280e-01 -1.13422591e-02 -3.84613716e+01] [-5.44231184e-02 3.09009082e-04 9.98517916e-01 -1.27437267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:-38.47, Z:-12.75 [[ 9.77330937e-01 2.04857346e-01 5.34575223e-02 1.91174562e+02] [-2.04540569e-01 9.78791821e-01 -1.13897659e-02 -3.84683115e+01] [-5.46570628e-02 1.97338521e-04 9.98505166e-01 -1.27460806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-38.47, Z:-12.75 [[ 9.77064527e-01 2.06152899e-01 5.33469138e-02 1.91201574e+02] [-2.05839451e-01 9.78519784e-01 -1.13645543e-02 -3.84743169e+01] [-5.45438464e-02 1.23003343e-04 9.98511369e-01 -1.27473150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:-38.48, Z:-12.75 [[ 9.76795276e-01 2.07372568e-01 5.35500392e-02 1.91229837e+02] [-2.07058763e-01 9.78262038e-01 -1.14041004e-02 -3.84806178e+01] [-5.47508681e-02 5.14665781e-05 9.98500045e-01 -1.27489207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:-38.49, Z:-12.75 [[ 9.76109081e-01 2.10284634e-01 5.46940102e-02 1.91256822e+02] [-2.09961982e-01 9.77640199e-01 -1.16450552e-02 -3.84882015e+01] [-5.59198392e-02 -1.16818611e-04 9.98435255e-01 -1.27502598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:-38.49, Z:-12.75 [[ 9.75368058e-01 2.13737442e-01 5.45294275e-02 1.91284981e+02] [-2.13422324e-01 9.76891092e-01 -1.16063011e-02 -3.84936398e+01] [-5.57500131e-02 -3.17381745e-04 9.98444708e-01 -1.27518645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:-38.50, Z:-12.75 [[ 9.74971301e-01 2.15536369e-01 5.45438812e-02 1.91312457e+02] [-2.15223992e-01 9.76495722e-01 -1.16076539e-02 -3.84984565e+01] [-5.57637382e-02 -4.22022410e-04 9.98443903e-01 -1.27540606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:-38.50, Z:-12.76 [[ 9.74598948e-01 2.17319071e-01 5.41231125e-02 1.91340302e+02] [-2.17014437e-01 9.76100480e-01 -1.15146416e-02 -3.85038310e+01] [-5.53319473e-02 -5.23339159e-04 9.98467877e-01 -1.27559271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:-38.51, Z:-12.76 [[ 9.73898050e-01 2.20710649e-01 5.30037557e-02 1.91367525e+02] [-2.20423642e-01 9.75339077e-01 -1.12740240e-02 -3.85099331e+01] [-5.41849313e-02 -7.03530862e-04 9.98530670e-01 -1.27579317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:-38.52, Z:-12.76 [[ 9.73613117e-01 2.21969480e-01 5.29815837e-02 1.91395360e+02] [-2.21684768e-01 9.75053305e-01 -1.12657436e-02 -3.85153404e+01] [-5.41605195e-02 -7.76734303e-04 9.98531940e-01 -1.27597188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-38.52, Z:-12.76 [[ 9.73232818e-01 2.23333076e-01 5.42237870e-02 1.91422635e+02] [-2.23037111e-01 9.74741797e-01 -1.15271855e-02 -3.85200798e+01] [-5.54285934e-02 -8.75281541e-04 9.98462270e-01 -1.27612148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:-38.53, Z:-12.76 [[ 9.73157619e-01 2.23606782e-01 5.44449849e-02 1.91450510e+02] [-2.23309028e-01 9.74679024e-01 -1.15705561e-02 -3.85256133e+01] [-5.56536396e-02 -8.98081825e-04 9.98449731e-01 -1.27624744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-38.53, Z:-12.76 [[ 9.73091460e-01 2.23820469e-01 5.47485974e-02 1.91477726e+02] [-2.23519868e-01 9.74629958e-01 -1.16324451e-02 -3.85298772e+01] [-5.59632025e-02 -9.17966301e-04 9.98432410e-01 -1.27644246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:-38.54, Z:-12.77 [[ 9.73101687e-01 2.23807268e-01 5.46206371e-02 1.91505225e+02] [-2.23508234e-01 9.74632989e-01 -1.16019689e-02 -3.85350297e+01] [-5.58316798e-02 -9.18266632e-04 9.98439773e-01 -1.27665489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:-38.54, Z:-12.77 [[ 9.73264312e-01 2.23313275e-01 5.37378911e-02 1.91532210e+02] [-2.23023306e-01 9.74746330e-01 -1.14103955e-02 -3.85398043e+01] [-5.49289050e-02 -8.79471398e-04 9.98489881e-01 -1.27684306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-38.54, Z:-12.77 [[ 9.73264113e-01 2.23336055e-01 5.36467418e-02 1.91559905e+02] [-2.23047275e-01 9.74741108e-01 -1.13879271e-02 -3.85446870e+01] [-5.48350192e-02 -8.82298826e-04 9.98495039e-01 -1.27708295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:-38.55, Z:-12.77 [[ 9.73303995e-01 2.23199475e-01 5.34913828e-02 1.91587560e+02] [-2.22912388e-01 9.74772397e-01 -1.13507909e-02 -3.85484262e+01] [-5.46754140e-02 -8.76121780e-04 9.98503796e-01 -1.27726309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.62, Y:-38.55, Z:-12.77 [[ 9.73471822e-01 2.22440180e-01 5.36001694e-02 1.91615159e+02] [-2.22150947e-01 9.74945980e-01 -1.13707072e-02 -3.85549219e+01] [-5.47865719e-02 -8.38265371e-04 9.98497736e-01 -1.27748061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-38.56, Z:-12.78 [[ 9.73677178e-01 2.21458764e-01 5.39330029e-02 1.91642483e+02] [-2.21164644e-01 9.75169415e-01 -1.14372749e-02 -3.85601218e+01] [-5.51266996e-02 -7.91859868e-04 9.98479053e-01 -1.27765859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-38.57, Z:-12.78 [[ 9.73888072e-01 2.20478438e-01 5.41413053e-02 1.91669691e+02] [-2.20180753e-01 9.75391565e-01 -1.14773795e-02 -3.85652152e+01] [-5.53394873e-02 -7.43190408e-04 9.98467320e-01 -1.27782761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-38.57, Z:-12.78 [[ 9.74459873e-01 2.17908327e-01 5.42578683e-02 1.91697223e+02] [-2.17605610e-01 9.75969056e-01 -1.14978501e-02 -3.85712488e+01] [-5.54594777e-02 -6.02622979e-04 9.98460757e-01 -1.27804154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-38.58, Z:-12.78 [[ 9.74755641e-01 2.16555841e-01 5.43599913e-02 1.91725208e+02] [-2.16250077e-01 9.76270089e-01 -1.15159541e-02 -3.85778642e+01] [-5.55638806e-02 -5.30111051e-04 9.98454994e-01 -1.27820608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-38.58, Z:-12.78 [[ 9.75294409e-01 2.14064728e-01 5.45628720e-02 1.91752359e+02] [-2.13752922e-01 9.76819399e-01 -1.15563831e-02 -3.85849869e+01] [-5.57718859e-02 -3.92097529e-04 9.98443460e-01 -1.27844980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-38.59, Z:-12.79 [[ 9.75585034e-01 2.12877907e-01 5.40077646e-02 1.91780020e+02] [-2.12570790e-01 9.77078754e-01 -1.14353855e-02 -3.85917747e+01] [-5.52041802e-02 -3.24282206e-04 9.98475034e-01 -1.27863413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-38.60, Z:-12.79 [[ 9.76098819e-01 2.10611785e-01 5.36075678e-02 1.91807655e+02] [-2.10305931e-01 9.77569761e-01 -1.13480483e-02 -3.86011628e+01] [-5.47951700e-02 -1.97172906e-04 9.98497597e-01 -1.27889160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-38.61, Z:-12.79 [[ 9.76351768e-01 2.09427951e-01 5.36391580e-02 1.91835711e+02] [-2.09120094e-01 9.77824072e-01 -1.13521228e-02 -3.86090657e+01] [-5.48271117e-02 -1.33360609e-04 9.98495854e-01 -1.27910397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:-38.62, Z:-12.79 [[ 9.76616770e-01 2.08207493e-01 5.35660776e-02 1.91862149e+02] [-2.07898774e-01 9.78084677e-01 -1.13342189e-02 -3.86166612e+01] [-5.47520290e-02 -6.71336108e-05 9.98499980e-01 -1.27935656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:-38.63, Z:-12.80 [[ 9.76805649e-01 2.07264027e-01 5.37805419e-02 1.91888770e+02] [-2.06951579e-01 9.78285042e-01 -1.13763495e-02 -3.86259101e+01] [-5.49706077e-02 -1.74856246e-05 9.98487973e-01 -1.27951282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:-38.63, Z:-12.80 [[ 9.76748453e-01 2.07466716e-01 5.40372157e-02 1.91916400e+02] [-2.07151774e-01 9.78242077e-01 -1.14272415e-02 -3.86328954e+01] [-5.52322504e-02 -3.23646759e-05 9.98473534e-01 -1.27968229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-38.64, Z:-12.80 [[ 9.76300772e-01 2.09577833e-01 5.39808725e-02 1.91943885e+02] [-2.09266913e-01 9.77791956e-01 -1.14127565e-02 -3.86419214e+01] [-5.51739236e-02 -1.54127517e-04 9.98476747e-01 -1.27985192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:-38.65, Z:-12.80 [[ 9.75891960e-01 2.11375661e-01 5.43618682e-02 1.91972046e+02] [-2.11063264e-01 9.77404861e-01 -1.14907205e-02 -3.86493947e+01] [-5.55624129e-02 -2.60091554e-04 9.98455182e-01 -1.28003888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:-38.66, Z:-12.80 [[ 9.74775542e-01 2.16336380e-01 5.48745172e-02 1.91999250e+02] [-2.16026039e-01 9.76318733e-01 -1.15966613e-02 -3.86558373e+01] [-5.60837988e-02 -5.50182741e-04 9.98425914e-01 -1.28014247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.03, Y:-38.66, Z:-12.80 [[ 9.74171087e-01 2.18873946e-01 5.55417773e-02 1.92027500e+02] [-2.18560337e-01 9.75752886e-01 -1.17339294e-02 -3.86605665e+01] [-5.67633009e-02 -7.08374749e-04 9.98387413e-01 -1.28025513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-38.67, Z:-12.81 [[ 9.73475480e-01 2.21752127e-01 5.63159250e-02 1.92055811e+02] [-2.21467294e-01 9.75101999e-01 -1.13282757e-02 -3.86670502e+01] [-5.74258402e-02 -1.44433690e-03 9.98348730e-01 -1.28052359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-38.67, Z:-12.81 [[ 9.72333345e-01 2.26632540e-01 5.66176520e-02 1.92084448e+02] [-2.26289794e-01 9.73980098e-01 -1.24779150e-02 -3.86720525e+01] [-5.79723678e-02 -6.79303974e-04 9.98317957e-01 -1.28068868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:-38.68, Z:-12.81 [[ 9.71401010e-01 2.30399869e-01 5.74106059e-02 1.92112590e+02] [-2.30085255e-01 9.73094981e-01 -1.21215725e-02 -3.86756087e+01] [-5.86587812e-02 -1.43442614e-03 9.98277061e-01 -1.28081833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-38.68, Z:-12.81 [[ 9.71124720e-01 2.31563267e-01 5.74041067e-02 1.92139721e+02] [-2.31250964e-01 9.72818677e-01 -1.21166184e-02 -3.86798154e+01] [-5.86495509e-02 -1.50800731e-03 9.98277495e-01 -1.28106739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-38.69, Z:-12.81 [[ 9.70948961e-01 2.32408108e-01 5.69612710e-02 1.92168398e+02] [-2.32102288e-01 9.72617122e-01 -1.20192248e-02 -3.86850910e+01] [-5.81948727e-02 -1.55078752e-03 9.98304038e-01 -1.28133168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-38.69, Z:-12.82 [[ 9.71222902e-01 2.31649217e-01 5.53598662e-02 1.92197458e+02] [-2.31359278e-01 9.72798280e-01 -1.16786946e-02 -3.86885131e+01] [-5.65593431e-02 -1.46540302e-03 9.98398164e-01 -1.28160447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-38.69, Z:-12.82 [[ 9.71540464e-01 2.30382951e-01 5.50710617e-02 1.92224856e+02] [-2.30094144e-01 9.73099056e-01 -1.16151930e-02 -3.86921559e+01] [-5.62655406e-02 -1.38689884e-03 9.98414876e-01 -1.28183875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:-38.70, Z:-12.82 [[ 9.72439031e-01 2.26753395e-01 5.42699570e-02 1.92253514e+02] [-2.26467475e-01 9.73951511e-01 -1.14427883e-02 -3.86962913e+01] [-5.54509978e-02 -1.16296611e-03 9.98460733e-01 -1.28209519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-38.70, Z:-12.82 [[ 9.72987799e-01 2.24539895e-01 5.36337475e-02 1.92280917e+02] [-2.24257418e-01 9.74464356e-01 -1.13061766e-02 -3.87018143e+01] [-5.48028629e-02 -1.02699386e-03 9.98496666e-01 -1.28227195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:192.31, Y:-38.71, Z:-12.82 [[ 9.74119414e-01 2.19784370e-01 5.27844408e-02 1.92309343e+02] [-2.19503975e-01 9.75548188e-01 -1.11237410e-02 -3.87064091e+01] [-5.39385900e-02 -7.50542551e-04 9.98543973e-01 -1.28246183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:-38.71, Z:-12.83 [[ 9.74658441e-01 2.17419256e-01 5.26288034e-02 1.92337587e+02] [-2.17137206e-01 9.76078113e-01 -1.10883465e-02 -3.87122431e+01] [-5.37806432e-02 -6.20320782e-04 9.98552581e-01 -1.28271528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:-38.72, Z:-12.83 [[ 9.75358519e-01 2.13952258e-01 5.38534144e-02 1.92365049e+02] [-2.13651779e-01 9.76844018e-01 -1.13437651e-02 -3.87155521e+01] [-5.50334099e-02 -4.41639880e-04 9.98484416e-01 -1.28279897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:-38.72, Z:-12.83 [[ 9.75365991e-01 2.13918006e-01 5.38541508e-02 1.92393698e+02] [-2.13617668e-01 9.76851519e-01 -1.13402681e-02 -3.87214997e+01] [-5.50333966e-02 -4.43286303e-04 9.98484416e-01 -1.28299987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:-38.73, Z:-12.83 [[ 9.75526904e-01 2.13024378e-01 5.44781979e-02 1.92422055e+02] [-2.12715743e-01 9.77046803e-01 -1.14698527e-02 -3.87255395e+01] [-5.56711073e-02 -3.99220499e-04 9.98449082e-01 -1.28318720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:-38.73, Z:-12.83 [[ 9.75580160e-01 2.12925887e-01 5.39065740e-02 1.92449345e+02] [-2.12623689e-01 9.77068274e-01 -1.13469711e-02 -3.87305601e+01] [-5.50864671e-02 -3.91934814e-04 9.98481511e-01 -1.28339290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-38.74, Z:-12.84 [[ 9.75486002e-01 2.13310683e-01 5.40889372e-02 1.92476555e+02] [-2.13007240e-01 9.76984328e-01 -1.13815079e-02 -3.87365538e+01] [-5.52718412e-02 -4.18833576e-04 9.98471256e-01 -1.28358064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:-38.74, Z:-12.84 [[ 9.75319739e-01 2.14038339e-01 5.42125118e-02 1.92504484e+02] [-2.13734832e-01 9.76825150e-01 -1.14038684e-02 -3.87418263e+01] [-5.53970101e-02 -4.64684178e-04 9.98464298e-01 -1.28373913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-38.75, Z:-12.84 [[ 9.74905774e-01 2.15820295e-01 5.45924219e-02 1.92532241e+02] [-2.15515454e-01 9.76432933e-01 -1.14811446e-02 -3.87457907e+01] [-5.57837026e-02 -5.72476392e-04 9.98442713e-01 -1.28390178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:-38.75, Z:-12.84 [[ 9.74761696e-01 2.16406494e-01 5.48440081e-02 1.92560380e+02] [-2.16099965e-01 9.76303157e-01 -1.15304280e-02 -3.87512147e+01] [-5.60396378e-02 -6.12368651e-04 9.98428357e-01 -1.28410740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:-38.76, Z:-12.84 [[ 9.74503785e-01 2.17360505e-01 5.56487633e-02 1.92587829e+02] [-2.17046618e-01 9.76091158e-01 -1.16968690e-02 -3.87559152e+01] [-5.68607032e-02 -6.79732751e-04 9.98381890e-01 -1.28428813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-38.76, Z:-12.85 [[ 9.74474768e-01 2.17469776e-01 5.57299162e-02 1.92616121e+02] [-2.17155363e-01 9.76066811e-01 -1.17102102e-02 -3.87595218e+01] [-5.69427384e-02 -6.90745807e-04 9.98377207e-01 -1.28452059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:-38.77, Z:-12.85 [[ 9.74608766e-01 2.16931328e-01 5.54847063e-02 1.92643920e+02] [-2.16618960e-01 9.76186644e-01 -1.16559586e-02 -3.87651282e+01] [-5.66919718e-02 -6.59039994e-04 9.98391499e-01 -1.28470526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:-38.77, Z:-12.85 [[ 9.74750824e-01 2.16276162e-01 5.55468539e-02 1.92670506e+02] [-2.15962183e-01 9.76332030e-01 -1.16663414e-02 -3.87719116e+01] [-5.67553242e-02 -6.24243890e-04 9.98387922e-01 -1.28491973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.70, Y:-38.78, Z:-12.85 [[ 9.74975697e-01 2.15393503e-01 5.50275253e-02 1.92698566e+02] [-2.15084167e-01 9.76527170e-01 -1.15537077e-02 -3.87783541e+01] [-5.62244671e-02 -5.70965180e-04 9.98417990e-01 -1.28501409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.73, Y:-38.78, Z:-12.85 [[ 9.75151167e-01 2.14896871e-01 5.38473461e-02 1.92725438e+02] [-2.14600050e-01 9.76636601e-01 -1.13034533e-02 -3.87833230e+01] [-5.50183658e-02 -5.33067507e-04 9.98485200e-01 -1.28524059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.75, Y:-38.79, Z:-12.85 [[ 9.75172664e-01 2.14795313e-01 5.38632482e-02 1.92753838e+02] [-2.14498378e-01 9.76658943e-01 -1.13028724e-02 -3.87901587e+01] [-5.50338271e-02 -5.31327185e-04 9.98484349e-01 -1.28549529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:-38.80, Z:-12.86 [[ 9.75212854e-01 2.14620546e-01 5.38322430e-02 1.92781286e+02] [-2.14323829e-01 9.76697367e-01 -1.12937701e-02 -3.87963541e+01] [-5.50016851e-02 -5.23702709e-04 9.98486124e-01 -1.28570600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:-38.80, Z:-12.86 [[ 9.75233234e-01 2.14488735e-01 5.39881543e-02 1.92808160e+02] [-2.14190286e-01 9.76726323e-01 -1.13230065e-02 -3.88023553e+01] [-5.51603088e-02 -5.21165930e-04 9.98477375e-01 -1.28588338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:-38.81, Z:-12.86 [[ 9.75194849e-01 2.14623193e-01 5.41469397e-02 1.92835353e+02] [-2.14323381e-01 9.76696780e-01 -1.13528845e-02 -3.88079710e+01] [-5.53217340e-02 -5.33680765e-04 9.98468438e-01 -1.28603830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-38.81, Z:-12.86 [[ 9.74907944e-01 2.15768384e-01 5.47586123e-02 1.92863592e+02] [-2.15463777e-01 9.76444383e-01 -1.14772643e-02 -3.88131429e+01] [-5.59451702e-02 -6.09221261e-04 9.98433657e-01 -1.28618166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:-38.82, Z:-12.86 [[ 9.74460664e-01 2.17593823e-01 5.54918230e-02 1.92891818e+02] [-2.17284111e-01 9.76039139e-01 -1.16281599e-02 -3.88173916e+01] [-5.66924069e-02 -7.26307006e-04 9.98391428e-01 -1.28638113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:-38.82, Z:-12.87 [[ 9.74222078e-01 2.18717188e-01 5.52642331e-02 1.92918727e+02] [-2.18411965e-01 9.75787972e-01 -1.15778922e-02 -3.88218724e+01] [-5.64584579e-02 -7.90931502e-04 9.98404636e-01 -1.28659070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:-38.83, Z:-12.87 [[ 9.73958062e-01 2.19951437e-01 5.50187208e-02 1.92946073e+02] [-2.19651071e-01 9.75510442e-01 -1.15232169e-02 -3.88261873e+01] [-5.62058848e-02 -8.61790979e-04 9.98418828e-01 -1.28684173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-38.83, Z:-12.87 [[ 9.73345721e-01 2.22711864e-01 5.47497329e-02 1.92973545e+02] [-2.22419012e-01 9.74883780e-01 -1.14629068e-02 -3.88308436e+01] [-5.59275519e-02 -1.02001023e-03 9.98434309e-01 -1.28700634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-38.84, Z:-12.87 [[ 9.73076442e-01 2.23824104e-01 5.50000825e-02 1.93000351e+02] [-2.23530560e-01 9.74628943e-01 -1.15113852e-02 -3.88350539e+01] [-5.61811977e-02 -1.09274155e-03 9.98419991e-01 -1.28718146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:-38.84, Z:-12.87 [[ 9.72693580e-01 2.25573685e-01 5.46233724e-02 1.93028482e+02] [-2.25287173e-01 9.74225382e-01 -1.14277640e-02 -3.88381559e+01] [-5.57932787e-02 -1.19023246e-03 9.98441632e-01 -1.28741336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:-38.84, Z:-12.88 [[ 9.72670305e-01 2.25645946e-01 5.47392405e-02 1.93056183e+02] [-2.25358571e-01 9.74208635e-01 -1.14477004e-02 -3.88425923e+01] [-5.59105680e-02 -1.20111878e-03 9.98435058e-01 -1.28763517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:-38.85, Z:-12.88 [[ 9.72904206e-01 2.24541478e-01 5.51228600e-02 1.93084221e+02] [-2.24248477e-01 9.74463855e-01 -1.15245875e-02 -3.88452594e+01] [-5.63029826e-02 -1.14889771e-03 9.98413068e-01 -1.28782394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:-38.85, Z:-12.88 [[ 9.73154226e-01 2.23451112e-01 5.51402956e-02 1.93111327e+02] [-2.23156403e-01 9.74714529e-01 -1.15242134e-02 -3.88495367e+01] [-5.63211455e-02 -1.09007303e-03 9.98412109e-01 -1.28805720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:-38.85, Z:-12.88 [[ 9.73486290e-01 2.22019720e-01 5.50607645e-02 1.93138366e+02] [-2.21723801e-01 9.75041653e-01 -1.15035587e-02 -3.88546315e+01] [-5.62405557e-02 -1.00972532e-03 9.98416737e-01 -1.28824736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:-38.86, Z:-12.88 [[ 9.74092537e-01 2.19335838e-01 5.50955418e-02 1.93166056e+02] [-2.19035482e-01 9.75649041e-01 -1.15067663e-02 -3.88585048e+01] [-5.62777588e-02 -8.59223389e-04 9.98414781e-01 -1.28846700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:-38.86, Z:-12.89 [[ 9.74552609e-01 2.17309055e-01 5.49907868e-02 1.93193443e+02] [-2.17006831e-01 9.76102566e-01 -1.14810696e-02 -3.88610754e+01] [-5.61715885e-02 -7.44470096e-04 9.98420852e-01 -1.28872559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:-38.87, Z:-12.89 [[ 9.74804410e-01 2.16255981e-01 5.46782614e-02 1.93221050e+02] [-2.15955891e-01 9.76336458e-01 -1.14093591e-02 -3.88660495e+01] [-5.58517222e-02 -6.86199042e-04 9.98438839e-01 -1.28897043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-38.87, Z:-12.89 [[ 9.75022287e-01 2.15338843e-01 5.44125311e-02 1.93248886e+02] [-2.15040459e-01 9.76539185e-01 -1.13499189e-02 -3.88712243e+01] [-5.55800472e-02 -6.34471757e-04 9.98454033e-01 -1.28918142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-38.88, Z:-12.89 [[ 9.75338856e-01 2.13759074e-01 5.49652137e-02 1.93276220e+02] [-2.13452318e-01 9.76886253e-01 -1.14610816e-02 -3.88766192e+01] [-5.61446718e-02 -5.54014029e-04 9.98422490e-01 -1.28935885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-38.88, Z:-12.90 [[ 9.75504832e-01 2.13002997e-01 5.49549518e-02 1.93302568e+02] [-2.12695364e-01 9.77051411e-01 -1.14552473e-02 -3.88816144e+01] [-5.61338152e-02 -5.14014419e-04 9.98423122e-01 -1.28952140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:-38.88, Z:-12.90 [[ 9.75714130e-01 2.11861976e-01 5.56456641e-02 1.93330601e+02] [-2.11545067e-01 9.77299489e-01 -1.15928029e-02 -3.88840220e+01] [-5.68385533e-02 -4.60304141e-04 9.98383277e-01 -1.28967096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-38.89, Z:-12.90 [[ 9.75753023e-01 2.11685316e-01 5.56360092e-02 1.93356840e+02] [-2.11368460e-01 9.77337772e-01 -1.15867756e-02 -3.88880718e+01] [-5.68279235e-02 -4.53866283e-04 9.98383885e-01 -1.28983499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.38, Y:-38.89, Z:-12.90 [[ 9.75714380e-01 2.11855613e-01 5.56655046e-02 1.93383648e+02] [-2.11538960e-01 9.77300865e-01 -1.15882992e-02 -3.88921984e+01] [-5.68569920e-02 -4.68552804e-04 9.98382223e-01 -1.29000567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:-38.90, Z:-12.90 [[ 9.75707766e-01 2.11958704e-01 5.53882906e-02 1.93411224e+02] [-2.11531178e-01 9.77277483e-01 -1.35381547e-02 -3.88965192e+01] [-5.69992590e-02 1.49293231e-03 9.98373104e-01 -1.29020115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:-38.90, Z:-12.90 [[ 9.75733154e-01 2.11539078e-01 5.65334494e-02 1.93439648e+02] [-2.11326173e-01 9.77366599e-01 -9.78669393e-03 -3.89034749e+01] [-5.73241734e-02 -2.39779580e-03 9.98352738e-01 -1.29044826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:193.47, Y:-38.91, Z:-12.91 [[ 9.75822261e-01 2.11285124e-01 5.59420406e-02 1.93466158e+02] [-2.10964911e-01 9.77424369e-01 -1.16365626e-02 -3.89066509e+01] [-5.71377463e-02 -4.46590782e-04 9.98366205e-01 -1.29053636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:-38.91, Z:-12.91 [[ 9.76011741e-01 2.10271085e-01 5.64548629e-02 1.93493772e+02] [-2.09943569e-01 9.77643040e-01 -1.17381207e-02 -3.89122000e+01] [-5.76608911e-02 -3.95791756e-04 9.98336148e-01 -1.29080975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:-38.92, Z:-12.91 [[ 9.76322445e-01 2.08730398e-01 5.67988092e-02 1.93520547e+02] [-2.08366981e-01 9.77973203e-01 -1.23132084e-02 -3.89179264e+01] [-5.81178542e-02 1.86665367e-04 9.98309712e-01 -1.29099373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-38.92, Z:-12.91 [[ 9.76636609e-01 2.07062357e-01 5.74988277e-02 1.93550094e+02] [-2.06754900e-01 9.78327385e-01 -1.13110121e-02 -3.89242836e+01] [-5.85947626e-02 -8.41415887e-04 9.98281496e-01 -1.29116280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:-38.93, Z:-12.91 [[ 9.77061175e-01 2.05143982e-01 5.71612276e-02 1.93578780e+02] [-2.04799962e-01 9.78731800e-01 -1.18760016e-02 -3.89292909e+01] [-5.83818015e-02 -1.03037151e-04 9.98294323e-01 -1.29132053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:-38.93, Z:-12.92 [[ 9.77236729e-01 2.04231597e-01 5.74267398e-02 1.93605712e+02] [-2.03882915e-01 9.78922598e-01 -1.19291669e-02 -3.89349231e+01] [-5.86526461e-02 -5.07110207e-05 9.98278450e-01 -1.29153637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-38.94, Z:-12.92 [[ 9.77497851e-01 2.03093640e-01 5.70168831e-02 1.93633755e+02] [-2.02748209e-01 9.79159320e-01 -1.18402192e-02 -3.89424239e+01] [-5.82332857e-02 1.37179255e-05 9.98303002e-01 -1.29179564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:-38.95, Z:-12.92 [[ 9.77734413e-01 2.02304683e-01 5.57515214e-02 1.93661294e+02] [-2.01973290e-01 9.79322629e-01 -1.15748907e-02 -3.89479576e+01] [-5.69403811e-02 5.68508081e-05 9.98377579e-01 -1.29200751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-38.95, Z:-12.92 [[ 9.77890851e-01 2.01795191e-01 5.48469287e-02 1.93689979e+02] [-2.01473890e-01 9.79427738e-01 -1.13832007e-02 -3.89532472e+01] [-5.60156785e-02 8.13037829e-05 9.98429886e-01 -1.29218843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-38.96, Z:-12.92 [[ 9.78112757e-01 2.00737227e-01 5.47722538e-02 1.93716979e+02] [-2.00415284e-01 9.79645113e-01 -1.13651934e-02 -3.89573654e+01] [-5.59387881e-02 1.39243917e-04 9.98434190e-01 -1.29240582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.74, Y:-38.96, Z:-12.92 [[ 9.78225449e-01 2.00333884e-01 5.42338089e-02 1.93744921e+02] [-2.00017833e-01 9.79727671e-01 -1.12497170e-02 -3.89624915e+01] [-5.53880628e-02 1.57030556e-04 9.98464891e-01 -1.29246825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:-38.97, Z:-12.93 [[ 9.78310568e-01 1.99749141e-01 5.48517448e-02 1.93772616e+02] [-1.99425080e-01 9.79847052e-01 -1.13751060e-02 -3.89681512e+01] [-5.60184881e-02 1.89572862e-04 9.98429714e-01 -1.29275998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:-38.97, Z:-12.93 [[ 9.78230237e-01 2.00038507e-01 5.52286062e-02 1.93799855e+02] [-1.99710587e-01 9.79788021e-01 -1.14505636e-02 -3.89746654e+01] [-5.64028804e-02 1.71550191e-04 9.98408076e-01 -1.29296963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:-38.98, Z:-12.93 [[ 9.78139972e-01 2.00505672e-01 5.51332041e-02 1.93827405e+02] [-2.00179822e-01 9.79692531e-01 -1.14273025e-02 -3.89808132e+01] [-5.63048272e-02 1.40946394e-04 9.98413615e-01 -1.29315093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:-38.99, Z:-12.93 [[ 9.78025846e-01 2.01078680e-01 5.50709470e-02 1.93855159e+02] [-2.00754677e-01 9.79575088e-01 -1.14107760e-02 -3.89866309e+01] [-5.62405916e-02 1.04283662e-04 9.98417240e-01 -1.29334339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-38.99, Z:-12.94 [[ 9.77972428e-01 2.01193961e-01 5.55960385e-02 1.93882770e+02] [-2.00864083e-01 9.79551418e-01 -1.15169174e-02 -3.89923391e+01] [-5.67763125e-02 9.59803537e-05 9.98386920e-01 -1.29352363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-39.00, Z:-12.94 [[ 9.78118380e-01 2.00325631e-01 5.61611668e-02 1.93910985e+02] [-1.99987785e-01 9.79729361e-01 -1.16303499e-02 -3.89978378e+01] [-5.73526013e-02 1.44311587e-04 9.98353974e-01 -1.29362877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:-39.00, Z:-12.94 [[ 9.78258263e-01 1.99586090e-01 5.63574709e-02 1.93939437e+02] [-1.99244816e-01 9.79880278e-01 -1.16681154e-02 -3.90041029e+01] [-5.75523677e-02 1.85496408e-04 9.98342472e-01 -1.29379497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:-39.01, Z:-12.94 [[ 9.78718937e-01 1.97384456e-01 5.61125522e-02 1.93967082e+02] [-1.97042691e-01 9.80326109e-01 -1.16145599e-02 -3.90143659e+01] [-5.73011335e-02 3.10821455e-04 9.98356892e-01 -1.29414301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:-39.02, Z:-12.94 [[ 9.78980032e-01 1.96102360e-01 5.60531945e-02 1.93994136e+02] [-1.95759373e-01 9.80583356e-01 -1.15995751e-02 -3.90225048e+01] [-5.72395336e-02 3.82814255e-04 9.98360400e-01 -1.29434982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-39.03, Z:-12.94 [[ 9.79546270e-01 1.93343905e-01 5.57426196e-02 1.94021362e+02] [-1.93000453e-01 9.81130901e-01 -1.15316695e-02 -3.90316925e+01] [-5.69203847e-02 5.37452962e-04 9.98378576e-01 -1.29448646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:194.05, Y:-39.04, Z:-12.95 [[ 9.80003296e-01 1.91307959e-01 5.47247997e-02 1.94049682e+02] [-1.90973938e-01 9.81529854e-01 -1.13181700e-02 -3.90410997e+01] [-5.58792806e-02 6.40833450e-04 9.98437327e-01 -1.29454665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-39.05, Z:-12.95 [[ 9.80174580e-01 1.90404939e-01 5.48064872e-02 1.94078360e+02] [-1.90068584e-01 9.81705394e-01 -1.13337166e-02 -3.90500723e+01] [-5.59618197e-02 6.92029495e-04 9.98432670e-01 -1.29491722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:-39.06, Z:-12.95 [[ 9.80258333e-01 1.89986900e-01 5.47592800e-02 1.94105516e+02] [-1.89650539e-01 9.81786366e-01 -1.13227629e-02 -3.90590616e+01] [-5.59130912e-02 7.14105707e-04 9.98435384e-01 -1.29512878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:-39.07, Z:-12.95 [[ 9.80260508e-01 1.89975548e-01 5.47597353e-02 1.94134994e+02] [-1.89639293e-01 9.81788564e-01 -1.13205605e-02 -3.90651169e+01] [-5.59131116e-02 7.12500927e-04 9.98435384e-01 -1.29533519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:-39.08, Z:-12.95 [[ 9.80094509e-01 1.90593240e-01 5.55785149e-02 1.94163353e+02] [-1.90247867e-01 9.81668857e-01 -1.14892919e-02 -3.90763550e+01] [-5.67494786e-02 6.86898003e-04 9.98388214e-01 -1.29544363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:-39.09, Z:-12.96 [[ 9.79534002e-01 1.93335527e-01 5.59867225e-02 1.94192464e+02] [-1.92989624e-01 9.81132556e-01 -1.15720467e-02 -3.90857522e+01] [-5.71676839e-02 5.30356730e-04 9.98364450e-01 -1.29564063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-39.09, Z:-12.96 [[ 9.79107739e-01 1.95428650e-01 5.61754314e-02 1.94220407e+02] [-1.95142235e-01 9.80717744e-01 -1.05931184e-02 -3.90941926e+01] [-5.71624412e-02 -5.90395003e-04 9.98364716e-01 -1.29589952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.25, Y:-39.10, Z:-12.96 [[ 9.78754694e-01 1.97567124e-01 5.48313779e-02 1.94249302e+02] [-1.97188852e-01 9.80288619e-01 -1.22792486e-02 -3.91006693e+01] [-5.61765515e-02 1.20623575e-03 9.98420122e-01 -1.29592485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:-39.11, Z:-12.96 [[ 9.77791735e-01 2.01976328e-01 5.59364445e-02 1.94276917e+02] [-2.01645222e-01 9.79390404e-01 -1.15603659e-02 -3.91103809e+01] [-5.71185372e-02 2.43134727e-05 9.98367403e-01 -1.29626378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:194.31, Y:-39.12, Z:-12.96 [[ 9.77397514e-01 2.04006812e-01 5.54555630e-02 1.94305456e+02] [-2.03684674e-01 9.78969464e-01 -1.14604383e-02 -3.91171850e+01] [-5.66273103e-02 -9.40443457e-05 9.98395382e-01 -1.29630374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-39.13, Z:-12.97 [[ 9.76769966e-01 2.06922744e-01 5.57082747e-02 1.94332462e+02] [-2.06602477e-01 9.78357249e-01 -1.15112471e-02 -3.91266688e+01] [-5.68845333e-02 -2.65627133e-04 9.98380729e-01 -1.29671499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.36, Y:-39.13, Z:-12.97 [[ 9.76538586e-01 2.08041337e-01 5.55984983e-02 1.94360919e+02] [-2.07724224e-01 9.78119978e-01 -1.14871428e-02 -3.91342155e+01] [-5.67718025e-02 -3.31516719e-04 9.98387126e-01 -1.29694035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:-39.14, Z:-12.97 [[ 9.76285908e-01 2.09339902e-01 5.51600484e-02 1.94388781e+02] [-2.09029922e-01 9.77842851e-01 -1.13951869e-02 -3.91411670e+01] [-5.63233263e-02 -4.05140261e-04 9.98412499e-01 -1.29714079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:-39.15, Z:-12.97 [[ 9.76233798e-01 2.09687116e-01 5.47620805e-02 1.94417823e+02] [-2.09382215e-01 9.77768446e-01 -1.13116681e-02 -3.91481347e+01] [-5.59165454e-02 -4.23372995e-04 9.98435356e-01 -1.29738170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:-39.16, Z:-12.98 [[ 9.76385789e-01 2.09153350e-01 5.40894444e-02 1.94446529e+02] [-2.08855153e-01 9.77882776e-01 -1.11714270e-02 -3.91567210e+01] [-5.52296774e-02 -3.89236613e-04 9.98473601e-01 -1.29760339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:-39.16, Z:-12.98 [[ 9.76461169e-01 2.08869689e-01 5.38241481e-02 1.94474522e+02] [-2.08574046e-01 9.77943411e-01 -1.11154397e-02 -3.91633933e+01] [-5.49586494e-02 -3.72525091e-04 9.98488562e-01 -1.29776175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:-39.17, Z:-12.98 [[ 9.76763405e-01 2.07169153e-01 5.49016677e-02 1.94502166e+02] [-2.06858982e-01 9.78305096e-01 -1.13358084e-02 -3.91709511e+01] [-5.60590112e-02 -2.84500269e-04 9.98427417e-01 -1.29797810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:-39.18, Z:-12.98 [[ 9.77058974e-01 2.05637725e-01 5.53975328e-02 1.94531393e+02] [-2.05319601e-01 9.78628165e-01 -1.14357103e-02 -3.91784658e+01] [-5.65651993e-02 -2.00835964e-04 9.98398887e-01 -1.29813099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:-39.19, Z:-12.98 [[ 9.77399577e-01 2.03874899e-01 5.59025340e-02 1.94560627e+02] [-2.03548071e-01 9.78996944e-01 -1.15398187e-02 -3.91858420e+01] [-5.70810893e-02 -9.98390283e-05 9.98369540e-01 -1.29833346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-39.20, Z:-12.98 [[ 9.78079098e-01 2.00653283e-01 5.56735014e-02 1.94591483e+02] [-2.00323978e-01 9.79662316e-01 -1.14913575e-02 -3.91951986e+01] [-5.68470099e-02 8.67192856e-05 9.98382897e-01 -1.29849406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:-39.20, Z:-12.99 [[ 9.78353031e-01 1.99326517e-01 5.56263046e-02 1.94622195e+02] [-1.98995073e-01 9.79933115e-01 -1.14913709e-02 -3.92033902e+01] [-5.68005929e-02 1.73257056e-04 9.98385528e-01 -1.29872580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:194.65, Y:-39.21, Z:-12.99 [[ 9.78837415e-01 1.97365391e-01 5.40760261e-02 1.94652919e+02] [-1.97048626e-01 9.80329954e-01 -1.11812453e-02 -3.92125863e+01] [-5.52191390e-02 2.89014613e-04 9.98474218e-01 -1.29875075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:-39.22, Z:-12.99 [[ 9.78980929e-01 1.96590650e-01 5.42997035e-02 1.94682644e+02] [-1.96269496e-01 9.80485593e-01 -1.12377618e-02 -3.92209342e+01] [-5.54493159e-02 3.44179082e-04 9.98461444e-01 -1.29922262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.71, Y:-39.23, Z:-12.99 [[ 9.79065186e-01 1.96064992e-01 5.46797986e-02 1.94714460e+02] [-1.95738272e-01 9.80590829e-01 -1.13205602e-02 -3.92315037e+01] [-5.58380745e-02 3.80637109e-04 9.98439765e-01 -1.29937949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:-39.24, Z:-13.00 [[ 9.79070737e-01 1.96075735e-01 5.45417131e-02 1.94745829e+02] [-1.95750076e-01 9.80588678e-01 -1.13027948e-02 -3.92396520e+01] [-5.56991901e-02 3.89691095e-04 9.98447519e-01 -1.29958261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:-39.25, Z:-13.00 [[ 9.79162931e-01 1.95810395e-01 5.38353382e-02 1.94777550e+02] [-1.95492201e-01 9.80641689e-01 -1.11658908e-02 -3.92481728e+01] [-5.49795744e-02 4.08837560e-04 9.98487396e-01 -1.29980150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:-39.26, Z:-13.00 [[ 9.79173097e-01 1.95752087e-01 5.38624857e-02 1.94809361e+02] [-1.95432891e-01 9.80653324e-01 -1.11822881e-02 -3.92562915e+01] [-5.50093818e-02 4.22894381e-04 9.98485748e-01 -1.30001694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-39.26, Z:-13.00 [[ 9.79173746e-01 1.95718226e-01 5.39736202e-02 1.94841555e+02] [-1.95397066e-01 9.80660077e-01 -1.12160929e-02 -3.92649284e+01] [-5.51249683e-02 4.36216679e-04 9.98479368e-01 -1.30022727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:-39.27, Z:-13.00 [[ 9.78870635e-01 1.97310983e-01 5.36717396e-02 1.94872078e+02] [-1.96995161e-01 9.80340884e-01 -1.11649928e-02 -3.92744685e+01] [-5.48195764e-02 3.56010581e-04 9.98496213e-01 -1.30037889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:-39.28, Z:-13.01 [[ 9.77951007e-01 2.01966091e-01 5.31180352e-02 1.94904316e+02] [-2.01663319e-01 9.79392510e-01 -1.10552112e-02 -3.92826873e+01] [-5.42561836e-02 9.94956725e-05 9.98527044e-01 -1.30053300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:-39.29, Z:-13.01 [[ 9.77166000e-01 2.05655672e-01 5.34074288e-02 1.94934853e+02] [-2.05354468e-01 9.78624410e-01 -1.11268454e-02 -3.92902694e+01] [-5.45541124e-02 -9.46791460e-05 9.98510811e-01 -1.30069819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-39.30, Z:-13.01 [[ 9.76305898e-01 2.09607196e-01 5.37737576e-02 1.94965706e+02] [-2.09307238e-01 9.77785625e-01 -1.12138674e-02 -3.92973779e+01] [-5.49297145e-02 -3.07071829e-04 9.98490176e-01 -1.30087370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-39.30, Z:-13.01 [[ 9.74536909e-01 2.17661117e-01 5.38651116e-02 1.94996340e+02] [-2.17372318e-01 9.76024108e-01 -1.12345619e-02 -3.93019323e+01] [-5.50189748e-02 -7.60288892e-04 9.98485020e-01 -1.30101355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-39.30, Z:-13.01 [[ 9.73066933e-01 2.24070702e-01 5.41577840e-02 1.95024556e+02] [-2.23788629e-01 9.74572239e-01 -1.12960817e-02 -3.93045681e+01] [-5.53117938e-02 -1.12805262e-03 9.98468494e-01 -1.30120350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-39.31, Z:-13.01 [[ 9.72484386e-01 2.26568870e-01 5.42279079e-02 1.95053680e+02] [-2.26290063e-01 9.73994314e-01 -1.13085269e-02 -3.93098970e+01] [-5.53798341e-02 -1.27387092e-03 9.98464547e-01 -1.30138604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-39.31, Z:-13.02 [[ 9.72036602e-01 2.28494890e-01 5.41749913e-02 1.95082441e+02] [-2.28219680e-01 9.73544129e-01 -1.12963054e-02 -3.93140830e+01] [-5.53228928e-02 -1.38337686e-03 9.98467558e-01 -1.30157149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-39.31, Z:-13.02 [[ 9.71398338e-01 2.31248372e-01 5.39394067e-02 1.95111310e+02] [-2.30979887e-01 9.72893537e-01 -1.12453629e-02 -3.93148857e+01] [-5.50777720e-02 -1.53519126e-03 9.98480887e-01 -1.30181804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:-39.32, Z:-13.02 [[ 9.71225660e-01 2.32051982e-01 5.35965996e-02 1.95140377e+02] [-2.31788265e-01 9.72702114e-01 -1.11712940e-02 -3.93184605e+01] [-5.47258467e-02 -1.57321540e-03 9.98500179e-01 -1.30204760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-39.32, Z:-13.02 [[ 9.71203165e-01 2.32250146e-01 5.31439731e-02 1.95168750e+02] [-2.31991297e-01 9.72654818e-01 -1.10744781e-02 -3.93194322e+01] [-5.42627906e-02 -1.57337106e-03 9.98525450e-01 -1.30223597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-39.32, Z:-13.02 [[ 9.71328010e-01 2.31711477e-01 5.32136178e-02 1.95197864e+02] [-2.31451332e-01 9.72783323e-01 -1.10854942e-02 -3.93222972e+01] [-5.43339562e-02 -1.54871167e-03 9.98521619e-01 -1.30245109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-39.32, Z:-13.03 [[ 9.71992599e-01 2.29069657e-01 5.25117174e-02 1.95226532e+02] [-2.28812608e-01 9.73409048e-01 -1.09368858e-02 -3.93212733e+01] [-5.36206895e-02 -1.38477098e-03 9.98560416e-01 -1.30267069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:-39.32, Z:-13.03 [[ 9.72512316e-01 2.26803833e-01 5.27239762e-02 1.95254736e+02] [-2.26541560e-01 9.73939635e-01 -1.09776361e-02 -3.93247437e+01] [-5.38397401e-02 -1.26828550e-03 9.98548784e-01 -1.30288376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-39.33, Z:-13.03 [[ 9.73859859e-01 2.20581079e-01 5.42306459e-02 1.95282257e+02] [-2.20294090e-01 9.75368176e-01 -1.12887119e-02 -3.93271057e+01] [-5.53849224e-02 -9.53067404e-04 9.98464622e-01 -1.30304660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-39.33, Z:-13.03 [[ 9.74650131e-01 2.16927592e-01 5.47680681e-02 1.95309507e+02] [-2.16629306e-01 9.76187404e-01 -1.13971663e-02 -3.93313513e+01] [-5.59362580e-02 -7.56118919e-04 9.98434056e-01 -1.30320537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-39.34, Z:-13.03 [[ 9.75487946e-01 2.13115864e-01 5.48169251e-02 1.95338341e+02] [-2.12811224e-01 9.77026783e-01 -1.14038437e-02 -3.93361783e+01] [-5.59879440e-02 -5.41344814e-04 9.98431298e-01 -1.30338128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-39.34, Z:-13.04 [[ 9.76963764e-01 2.05964667e-01 5.58601879e-02 1.95367417e+02] [-2.05636799e-01 9.78559419e-01 -1.16176550e-02 -3.93413085e+01] [-5.70553395e-02 -1.36882275e-04 9.98371008e-01 -1.30355239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15264000000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.40, Y:-39.35, Z:-13.04 [[ 9.78132923e-01 2.00204066e-01 5.63410835e-02 1.95396600e+02] [-1.99861071e-01 9.79754200e-01 -1.17158043e-02 -3.93478749e+01] [-5.75459648e-02 1.99224629e-04 9.98342838e-01 -1.30367322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-39.35, Z:-13.04 [[ 9.78662821e-01 1.97802152e-01 5.56182734e-02 1.95425940e+02] [-1.97463983e-01 9.80241907e-01 -1.15663370e-02 -3.93549731e+01] [-5.68072087e-02 3.36938244e-04 9.98385110e-01 -1.30394768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-39.36, Z:-13.04 [[ 9.79059314e-01 1.95926969e-01 5.52764241e-02 1.95456075e+02] [-1.95589977e-01 9.80618390e-01 -1.14949554e-02 -3.93624916e+01] [-5.64572497e-02 4.42728606e-04 9.98404919e-01 -1.30420953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-39.37, Z:-13.04 [[ 9.79572793e-01 1.93575443e-01 5.44581539e-02 1.95485392e+02] [-1.93244647e-01 9.81085227e-01 -1.13262768e-02 -3.93706335e+01] [-5.56205793e-02 5.71165847e-04 9.98451814e-01 -1.30438166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-39.38, Z:-13.05 [[ 9.79635407e-01 1.93451851e-01 5.37666380e-02 1.95516765e+02] [-1.93129308e-01 9.81109605e-01 -1.11809267e-02 -3.93780972e+01] [-5.49139359e-02 5.69318091e-04 9.98490929e-01 -1.30457712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-39.39, Z:-13.05 [[ 9.79529372e-01 1.94330298e-01 5.25161430e-02 1.95546784e+02] [-1.94023361e-01 9.80936016e-01 -1.09301158e-02 -3.93869083e+01] [-5.36390288e-02 5.17010941e-04 9.98560257e-01 -1.30485821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-39.40, Z:-13.05 [[ 9.79336883e-01 1.95355875e-01 5.23005815e-02 1.95577019e+02] [-1.95052351e-01 9.80732309e-01 -1.08958083e-02 -3.93951493e+01] [-5.34214303e-02 4.69315566e-04 9.98571946e-01 -1.30512888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:-39.41, Z:-13.05 [[ 9.78752683e-01 1.98400841e-01 5.17715299e-02 1.95606073e+02] [-1.98107643e-01 9.80120919e-01 -1.07863730e-02 -3.94054882e+01] [-5.28823849e-02 3.00855750e-04 9.98600702e-01 -1.30527550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.64, Y:-39.41, Z:-13.05 [[ 9.78320797e-01 2.00547800e-01 5.16623380e-02 1.95635961e+02] [-2.00258622e-01 9.79683900e-01 -1.07675401e-02 -3.94123476e+01] [-5.27721673e-02 1.88279807e-04 9.98606561e-01 -1.30537655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-39.42, Z:-13.06 [[ 9.77749901e-01 2.03179276e-01 5.21853771e-02 1.95664310e+02] [-2.02887962e-01 9.79141552e-01 -1.08763616e-02 -3.94195258e+01] [-5.33067224e-02 4.65766370e-05 9.98578185e-01 -1.30567680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:-39.43, Z:-13.06 [[ 9.76632072e-01 2.08316397e-01 5.28590108e-02 1.95693667e+02] [-2.08024971e-01 9.78061462e-01 -1.10176350e-02 -3.94283396e+01] [-5.39945154e-02 -2.35818490e-04 9.98541204e-01 -1.30586797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:-39.43, Z:-13.06 [[ 9.76098351e-01 2.10813208e-01 5.28185644e-02 1.95721969e+02] [-2.10525850e-01 9.77526292e-01 -1.10097383e-02 -3.94349676e+01] [-5.39525337e-02 -3.73085760e-04 9.98543432e-01 -1.30606641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:-39.44, Z:-13.06 [[ 9.75155624e-01 2.15166236e-01 5.26782772e-02 1.95749466e+02] [-2.14886841e-01 9.76577244e-01 -1.09786857e-02 -3.94414053e+01] [-5.38066492e-02 -6.13941488e-04 9.98551184e-01 -1.30632124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:195.78, Y:-39.45, Z:-13.06 [[ 9.74765498e-01 2.17008827e-01 5.23392022e-02 1.95778527e+02] [-2.16735828e-01 9.76169381e-01 -1.09051029e-02 -3.94479987e+01] [-5.34584302e-02 -7.13862260e-04 9.98569821e-01 -1.30643044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-39.45, Z:-13.07 [[ 9.74421959e-01 2.18464869e-01 5.26777748e-02 1.95806120e+02] [-2.18190512e-01 9.75844486e-01 -1.09744807e-02 -3.94544220e+01] [-5.38028546e-02 -8.00015645e-04 9.98551257e-01 -1.30675901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-39.46, Z:-13.07 [[ 9.73967044e-01 2.20544881e-01 5.24228202e-02 1.95832940e+02] [-2.20276272e-01 9.75376401e-01 -1.09197322e-02 -3.94597181e+01] [-5.35402728e-02 -9.12044066e-04 9.98565274e-01 -1.30699933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-39.47, Z:-13.07 [[ 9.73673605e-01 2.21962780e-01 5.18867519e-02 1.95860466e+02] [-2.21701825e-01 9.75054644e-01 -1.08047602e-02 -3.94666435e+01] [-5.29906730e-02 -9.83077775e-04 9.98594523e-01 -1.30715474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-39.47, Z:-13.07 [[ 9.73522925e-01 2.22639962e-01 5.18127632e-02 1.95889424e+02] [-2.22380863e-01 9.74900202e-01 -1.07864552e-02 -3.94732859e+01] [-5.29137693e-02 -1.02130556e-03 9.98598563e-01 -1.30730013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:-39.48, Z:-13.07 [[ 9.73337012e-01 2.23407598e-01 5.20010225e-02 1.95917280e+02] [-2.23147766e-01 9.74724528e-01 -1.08244970e-02 -3.94792719e+01] [-5.31049469e-02 -1.06802843e-03 9.98588366e-01 -1.30748798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:-39.48, Z:-13.08 [[ 9.73031127e-01 2.24846458e-01 5.15217981e-02 1.95946293e+02] [-2.24593504e-01 9.74393543e-01 -1.07229631e-02 -3.94836844e+01] [-5.26135276e-02 -1.13768425e-03 9.98614301e-01 -1.30760828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-39.49, Z:-13.08 [[ 9.72835542e-01 2.25658013e-01 5.16669113e-02 1.95973450e+02] [-2.25404895e-01 9.74205857e-01 -1.07508782e-02 -3.94883355e+01] [-5.27602294e-02 -1.18713827e-03 9.98606504e-01 -1.30773138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-39.49, Z:-13.08 [[ 9.72853138e-01 2.25581998e-01 5.16675387e-02 1.96002115e+02] [-2.25328933e-01 9.74223463e-01 -1.07478624e-02 -3.94941882e+01] [-5.27602527e-02 -1.18609972e-03 9.98606504e-01 -1.30793207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:196.03, Y:-39.50, Z:-13.08 [[ 9.72611641e-01 2.26600021e-01 5.17593182e-02 1.96030781e+02] [-2.26347745e-01 9.73987101e-01 -1.07622296e-02 -3.94988399e+01] [-5.28516297e-02 -1.24813517e-03 9.98601596e-01 -1.30803164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:196.06, Y:-39.50, Z:-13.08 [[ 9.72656098e-01 2.26446373e-01 5.15960783e-02 1.96059429e+02] [-2.26195603e-01 9.74022847e-01 -1.07257823e-02 -3.95041186e+01] [-5.26845736e-02 -1.23830850e-03 9.98610436e-01 -1.30814534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:196.09, Y:-39.51, Z:-13.08 [[ 9.72835266e-01 2.25572221e-01 5.20453450e-02 1.96087892e+02] [-2.25315949e-01 9.74225705e-01 -1.08166197e-02 -3.95079436e+01] [-5.31438419e-02 -1.20385722e-03 9.98586142e-01 -1.30836376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:-39.51, Z:-13.09 [[ 9.73142709e-01 2.24294144e-01 5.18209016e-02 1.96116346e+02] [-2.24038404e-01 9.74520834e-01 -1.07674181e-02 -3.95126195e+01] [-5.29156171e-02 -1.13163765e-03 9.98598346e-01 -1.30869054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-39.52, Z:-13.09 [[ 9.73778276e-01 2.21616294e-01 5.14012392e-02 1.96143414e+02] [-2.21361078e-01 9.75133456e-01 -1.06778201e-02 -3.95165512e+01] [-5.24894470e-02 -9.80404481e-04 9.98620998e-01 -1.30891713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-39.52, Z:-13.09 [[ 9.74096768e-01 2.20252234e-01 5.12292915e-02 1.96171466e+02] [-2.19996990e-01 9.75442531e-01 -1.06392301e-02 -3.95217219e+01] [-5.23145440e-02 -9.06650257e-04 9.98630245e-01 -1.30910313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:-39.53, Z:-13.09 [[ 9.74562439e-01 2.18302161e-01 5.07170438e-02 1.96199230e+02] [-2.18049597e-01 9.75880899e-01 -1.05282677e-02 -3.95262799e+01] [-5.17921379e-02 -7.98376655e-04 9.98657567e-01 -1.30928144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-39.53, Z:-13.09 [[ 9.74736832e-01 2.17558556e-01 5.05606819e-02 1.96226549e+02] [-2.17306728e-01 9.76046975e-01 -1.04923171e-02 -3.95308525e+01] [-5.16322940e-02 -7.59928416e-04 9.98665874e-01 -1.30945882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:-39.53, Z:-13.10 [[ 9.74993338e-01 2.16392669e-01 5.06182169e-02 1.96254618e+02] [-2.16138883e-01 9.76306161e-01 -1.05006622e-02 -3.95339852e+01] [-5.16911433e-02 -7.02489119e-04 9.98662872e-01 -1.30963562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:-39.54, Z:-13.10 [[ 9.75123868e-01 2.15806200e-01 5.06075669e-02 1.96282994e+02] [-2.15551901e-01 9.76435983e-01 -1.04951695e-02 -3.95385041e+01] [-5.16799720e-02 -6.74466960e-04 9.98663470e-01 -1.30981067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-39.54, Z:-13.10 [[ 9.75271329e-01 2.14945412e-01 5.14227933e-02 1.96310293e+02] [-2.14681785e-01 9.76625854e-01 -1.06617577e-02 -3.95427228e+01] [-5.25125253e-02 -6.41430466e-04 9.98620060e-01 -1.30998452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-39.55, Z:-13.10 [[ 9.75268506e-01 2.14907967e-01 5.16324286e-02 1.96338963e+02] [-2.14642315e-01 9.76634092e-01 -1.07017425e-02 -3.95481704e+01] [-5.27258797e-02 -6.45431556e-04 9.98608815e-01 -1.31012200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-39.55, Z:-13.10 [[ 9.75018457e-01 2.15992659e-01 5.18283749e-02 1.96366623e+02] [-2.15726645e-01 9.76394730e-01 -1.07399429e-02 -3.95519804e+01] [-5.29247009e-02 -7.09118875e-04 9.98598254e-01 -1.31025168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:-39.56, Z:-13.10 [[ 9.74802518e-01 2.16788951e-01 5.25604608e-02 1.96394854e+02] [-2.16516708e-01 9.76218195e-01 -1.08881511e-02 -3.95557565e+01] [-5.36709090e-02 -7.66420829e-04 9.98558384e-01 -1.31043256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-39.56, Z:-13.11 [[ 9.74213655e-01 2.19396542e-01 5.26584458e-02 1.96423536e+02] [-2.19127225e-01 9.75635343e-01 -1.09058621e-02 -3.95573373e+01] [-5.37681492e-02 -9.14259337e-04 9.98553028e-01 -1.31055423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-39.56, Z:-13.11 [[ 9.73899891e-01 2.20766202e-01 5.27378964e-02 1.96451228e+02] [-2.20498210e-01 9.75326251e-01 -1.09198473e-02 -3.95607721e+01] [-5.38473880e-02 -9.93773688e-04 9.98548682e-01 -1.31074945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:196.48, Y:-39.56, Z:-13.11 [[ 9.73565224e-01 2.22232004e-01 5.27606995e-02 1.96479000e+02] [-2.21966107e-01 9.74993217e-01 -1.09212766e-02 -3.95640268e+01] [-5.38683813e-02 -1.07851202e-03 9.98547462e-01 -1.31078694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-39.56, Z:-13.11 [[ 9.72833975e-01 2.25250796e-01 5.34428245e-02 1.96507576e+02] [-2.24982692e-01 9.74299995e-01 -1.10593312e-02 -3.95647858e+01] [-5.45604668e-02 -1.26481744e-03 9.98509667e-01 -1.31110882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-39.57, Z:-13.11 [[ 9.72123089e-01 2.28335560e-01 5.32876248e-02 1.96535630e+02] [-2.28073857e-01 9.73581432e-01 -1.10231829e-02 -3.95654662e+01] [-5.43968267e-02 -1.43762354e-03 9.98518362e-01 -1.31132155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-39.57, Z:-13.12 [[ 9.71854497e-01 2.29446978e-01 5.34127441e-02 1.96562358e+02] [-2.29185935e-01 9.73319995e-01 -1.10451120e-02 -3.95679624e+01] [-5.45219594e-02 -1.50720793e-03 9.98511434e-01 -1.31153480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:-39.57, Z:-13.12 [[ 9.71728488e-01 2.30093821e-01 5.29204941e-02 1.96590730e+02] [-2.29838791e-01 9.73167242e-01 -1.09384583e-02 -3.95670619e+01] [-5.40173630e-02 -1.53397081e-03 9.98538818e-01 -1.31177202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:196.62, Y:-39.57, Z:-13.12 [[ 9.71856172e-01 2.29778411e-01 5.19371081e-02 1.96618618e+02] [-2.29532524e-01 9.73241828e-01 -1.07314549e-02 -3.95696983e+01] [-5.30132227e-02 -1.49182479e-03 9.98592696e-01 -1.31188070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-39.57, Z:-13.12 [[ 9.72122860e-01 2.28624335e-01 5.20390098e-02 1.96645846e+02] [-2.28375990e-01 9.73513665e-01 -1.07495137e-02 -3.95692905e+01] [-5.31182875e-02 -1.43461234e-03 9.98587197e-01 -1.31228704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:-39.57, Z:-13.12 [[ 9.72324072e-01 2.27638590e-01 5.25981983e-02 1.96673412e+02] [-2.27383850e-01 9.73744681e-01 -1.08573064e-02 -3.95719282e+01] [-5.36887578e-02 -1.40316048e-03 9.98556733e-01 -1.31245399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:-39.57, Z:-13.13 [[ 9.72727248e-01 2.25735255e-01 5.33413047e-02 1.96701859e+02] [-2.25470623e-01 9.74187790e-01 -1.10066843e-02 -3.95716287e+01] [-5.44490445e-02 -1.32039544e-03 9.98515677e-01 -1.31266317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-39.57, Z:-13.13 [[ 9.73052794e-01 2.24379478e-01 5.31235274e-02 1.96729494e+02] [-2.24115194e-01 9.74501054e-01 -1.09578907e-02 -3.95737288e+01] [-5.42276593e-02 -1.24318346e-03 9.98527824e-01 -1.31286267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.76, Y:-39.57, Z:-13.13 [[ 9.73991958e-01 2.20476982e-01 5.22452488e-02 1.96756809e+02] [-2.20215953e-01 9.75391652e-01 -1.07730459e-02 -3.95737688e+01] [-5.33347881e-02 -1.01237721e-03 9.98576174e-01 -1.31303059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:-39.58, Z:-13.13 [[ 9.74624552e-01 2.17663268e-01 5.22463802e-02 1.96784420e+02] [-2.17398442e-01 9.76023543e-01 -1.07684878e-02 -3.95774876e+01] [-5.33376014e-02 -8.63049083e-04 9.98576164e-01 -1.31343550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:-39.58, Z:-13.14 [[ 9.75380555e-01 2.14308358e-01 5.20067462e-02 1.96811875e+02] [-2.14041388e-01 9.76765819e-01 -1.07153490e-02 -3.95811543e+01] [-5.30948009e-02 -6.80053085e-04 9.98589245e-01 -1.31364309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:-39.58, Z:-13.14 [[ 9.76874000e-01 2.07413465e-01 5.19311410e-02 1.96838417e+02] [-2.07137717e-01 9.78253321e-01 -1.06960932e-02 -3.95835780e+01] [-5.30203249e-02 -3.08162631e-04 9.98593386e-01 -1.31383932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:-39.59, Z:-13.14 [[ 9.78420249e-01 1.99999036e-01 5.19057038e-02 1.96864797e+02] [-1.99713354e-01 9.79796090e-01 -1.06863750e-02 -3.95881482e+01] [-5.29942703e-02 8.95035550e-05 9.98594812e-01 -1.31402849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:-39.59, Z:-13.14 [[ 9.79086139e-01 1.96623550e-01 5.22447370e-02 1.96892467e+02] [-1.96329565e-01 9.80479019e-01 -1.07515094e-02 -3.95944019e+01] [-5.33388684e-02 2.69467266e-04 9.98576433e-01 -1.31426415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:-39.60, Z:-13.14 [[ 9.79660318e-01 1.93643187e-01 5.26115656e-02 1.96918620e+02] [-1.93340943e-01 9.81071929e-01 -1.08235704e-02 -3.96012175e+01] [-5.37116409e-02 4.31452733e-04 9.98556395e-01 -1.31446759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-39.61, Z:-13.15 [[ 9.80109378e-01 1.91377908e-01 5.25366797e-02 1.96945704e+02] [-1.91073592e-01 9.81516273e-01 -1.08022079e-02 -3.96081651e+01] [-5.36329100e-02 5.48973193e-04 9.98560569e-01 -1.31464561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:196.97, Y:-39.62, Z:-13.15 [[ 9.80577780e-01 1.89109361e-01 5.20083336e-02 1.96972297e+02] [-1.88808157e-01 9.81955809e-01 -1.06896825e-02 -3.96159159e+01] [-5.30914044e-02 6.62467501e-04 9.98589437e-01 -1.31462291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:-39.62, Z:-13.15 [[ 9.80579760e-01 1.88958455e-01 5.25170150e-02 1.96999421e+02] [-1.88651288e-01 9.81984851e-01 -1.07908920e-02 -3.96249144e+01] [-5.36099435e-02 6.73927771e-04 9.98561726e-01 -1.31506912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:-39.63, Z:-13.15 [[ 9.80509477e-01 1.89460343e-01 5.20186945e-02 1.97026149e+02] [-1.89159814e-01 9.81888166e-01 -1.06861423e-02 -3.96326454e+01] [-5.31011407e-02 6.38017268e-04 9.98588935e-01 -1.31523957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:-39.64, Z:-13.15 [[ 9.80044178e-01 1.91851378e-01 5.20236212e-02 1.97054234e+02] [-1.91554336e-01 9.81423860e-01 -1.06837607e-02 -3.96400238e+01] [-5.31069174e-02 5.05207251e-04 9.98588704e-01 -1.31538466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:197.08, Y:-39.65, Z:-13.15 [[ 9.79727070e-01 1.93622848e-01 5.14301562e-02 1.97082081e+02] [-1.93335119e-01 9.81075956e-01 -1.05593905e-02 -3.96463243e+01] [-5.25014289e-02 4.02065328e-04 9.98620768e-01 -1.31526160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:197.11, Y:-39.65, Z:-13.15 [[ 9.79309797e-01 1.95676260e-01 5.16054616e-02 1.97108702e+02] [-1.95389537e-01 9.80668505e-01 -1.05930230e-02 -3.96527158e+01] [-5.26806540e-02 2.90683975e-04 9.98611368e-01 -1.31548928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-39.67, Z:-13.16 [[ 9.78060757e-01 1.99768396e-01 5.90740450e-02 1.97133326e+02] [-2.00309150e-01 9.79727123e-01 3.31792002e-03 -3.96690080e+01] [-5.72136286e-02 -1.50781991e-02 9.98248090e-01 -1.31619356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:-39.66, Z:-13.16 [[ 9.77798731e-01 2.03691018e-01 4.91895373e-02 1.97166796e+02] [-2.02651395e-01 9.78923462e-01 -2.53232527e-02 -3.96590127e+01] [-5.33109113e-02 1.47927160e-02 9.98468388e-01 -1.31597490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-39.67, Z:-13.16 [[ 9.76943035e-01 2.07019602e-01 5.22033655e-02 1.97191412e+02] [-2.06743108e-01 9.78336737e-01 -1.07012635e-02 -3.96740358e+01] [-5.32878415e-02 -3.38161243e-04 9.98579136e-01 -1.31629802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:197.22, Y:-39.68, Z:-13.16 [[ 9.76640484e-01 2.08686389e-01 5.12187019e-02 1.97218753e+02] [-2.08422757e-01 9.77982520e-01 -1.04949612e-02 -3.96801926e+01] [-5.22811507e-02 -4.25339070e-04 9.98632315e-01 -1.31620906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-39.68, Z:-13.17 [[ 9.76036982e-01 2.11339550e-01 5.18401716e-02 1.97246251e+02] [-2.11073416e-01 9.77412533e-01 -1.06184982e-02 -3.96841137e+01] [-5.29133421e-02 -5.78035241e-04 9.98598941e-01 -1.31669596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-39.69, Z:-13.17 [[ 9.75894130e-01 2.12021087e-01 5.17465589e-02 1.97273424e+02] [-2.11757072e-01 9.77264896e-01 -1.05955365e-02 -3.96887640e+01] [-5.28165727e-02 -6.17577920e-04 9.98604040e-01 -1.31690708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:-39.69, Z:-13.17 [[ 9.75828712e-01 2.12294255e-01 5.18601375e-02 1.97299455e+02] [-2.12029663e-01 9.77205579e-01 -1.06150276e-02 -3.96941542e+01] [-5.29315251e-02 -6.37438741e-04 9.98597941e-01 -1.31705470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:-39.70, Z:-13.17 [[ 9.76026636e-01 2.11450182e-01 5.15832030e-02 1.97325425e+02] [-2.11187473e-01 9.77388597e-01 -1.05537826e-02 -3.96998926e+01] [-5.26484336e-02 -5.92953375e-04 9.98612933e-01 -1.31722435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:-39.71, Z:-13.17 [[ 9.76376373e-01 2.09872999e-01 5.14052785e-02 1.97352578e+02] [-2.09610153e-01 9.77728523e-01 -1.05128507e-02 -3.97060666e+01] [-5.24667705e-02 -5.10569226e-04 9.98622540e-01 -1.31747327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:-39.71, Z:-13.18 [[ 9.77359308e-01 2.05148249e-01 5.17974845e-02 1.97378899e+02] [-2.04874941e-01 9.78730876e-01 -1.05892363e-02 -3.97136191e+01] [-5.28681606e-02 -2.62517896e-04 9.98601466e-01 -1.31766626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:-39.72, Z:-13.18 [[ 9.77915753e-01 2.02316209e-01 5.24302561e-02 1.97407037e+02] [-2.02032393e-01 9.79320243e-01 -1.07132703e-02 -3.97201872e+01] [-5.35134793e-02 -1.15934298e-04 9.98567120e-01 -1.31782503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:-39.73, Z:-13.18 [[ 9.79024228e-01 1.96560120e-01 5.36253718e-02 1.97435325e+02] [-1.96254718e-01 9.80491754e-01 -1.09547685e-02 -3.97268919e+01] [-5.47325054e-02 2.00751583e-04 9.98501033e-01 -1.31793940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:-39.73, Z:-13.18 [[ 9.79559505e-01 1.93842929e-01 5.37410008e-02 1.97463325e+02] [-1.93532262e-01 9.81032515e-01 -1.09757711e-02 -3.97328017e+01] [-5.48492448e-02 3.50803414e-04 9.98494586e-01 -1.31813592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.49, Y:-39.74, Z:-13.18 [[ 9.80426769e-01 1.89457284e-01 5.35657357e-02 1.97490657e+02] [-1.89142254e-01 9.81888786e-01 -1.09370952e-02 -3.97407258e+01] [-5.46677076e-02 5.91476930e-04 9.98504428e-01 -1.31837365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:-39.75, Z:-13.19 [[ 9.80706517e-01 1.88071765e-01 5.33267109e-02 1.97517960e+02] [-1.87757605e-01 9.82155065e-01 -1.08862836e-02 -3.97478387e+01] [-5.44225017e-02 6.63753805e-04 9.98517777e-01 -1.31855553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:-39.76, Z:-13.19 [[ 9.81129482e-01 1.86000311e-01 5.28093101e-02 1.97545844e+02] [-1.85689328e-01 9.82549384e-01 -1.07787085e-02 -3.97565789e+01] [-5.38925983e-02 7.69183378e-04 9.98546442e-01 -1.31871793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-39.76, Z:-13.19 [[ 9.81165601e-01 1.85658557e-01 5.33381965e-02 1.97575828e+02] [-1.85340940e-01 9.82613999e-01 -1.08841917e-02 -3.97640582e+01] [-5.44316019e-02 7.93443069e-04 9.98517186e-01 -1.31887801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:-39.77, Z:-13.19 [[ 9.81068687e-01 1.85935153e-01 5.41511860e-02 1.97604544e+02] [-1.85608200e-01 9.82561700e-01 -1.10499278e-02 -3.97729703e+01] [-5.52614514e-02 7.89833950e-04 9.98471606e-01 -1.31902361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:-39.78, Z:-13.19 [[ 9.81026511e-01 1.86187361e-01 5.40485923e-02 1.97632948e+02] [-1.85861966e-01 9.82513952e-01 -1.10301533e-02 -3.97801203e+01] [-5.51571711e-02 7.75295208e-04 9.98477384e-01 -1.31923659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:197.66, Y:-39.79, Z:-13.19 [[ 9.80846261e-01 1.87445062e-01 5.29618790e-02 1.97661340e+02] [-1.87134530e-01 9.82274846e-01 -1.08071187e-02 -3.97883610e+01] [-5.40488626e-02 6.89125608e-04 9.98538054e-01 -1.31918531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-39.80, Z:-13.20 [[ 9.80644192e-01 1.88334392e-01 5.35455403e-02 1.97688550e+02] [-1.88018361e-01 9.82104750e-01 -1.09250427e-02 -3.97952711e+01] [-5.46448907e-02 6.46034993e-04 9.98505643e-01 -1.31966413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:-39.80, Z:-13.20 [[ 9.80443522e-01 1.89373142e-01 5.35566377e-02 1.97717288e+02] [-1.89058645e-01 9.81905021e-01 -1.09251635e-02 -3.98029414e+01] [-5.46564640e-02 5.86160456e-04 9.98505046e-01 -1.31985283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:-39.81, Z:-13.20 [[ 9.80445735e-01 1.89361602e-01 5.35569255e-02 1.97746783e+02] [-1.89047165e-01 9.81907247e-01 -1.09237525e-02 -3.98089183e+01] [-5.46564725e-02 5.85361574e-04 9.98505046e-01 -1.32005941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-39.82, Z:-13.20 [[ 9.79952497e-01 1.92049851e-01 5.30090324e-02 1.97775109e+02] [-1.91745773e-01 9.81385077e-01 -1.08115343e-02 -3.98187201e+01] [-5.40986269e-02 4.30532182e-04 9.98535504e-01 -1.32022999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:-39.83, Z:-13.20 [[ 9.79382666e-01 1.95059497e-01 5.25488967e-02 1.97803701e+02] [-1.94765073e-01 9.80791377e-01 -1.07164272e-02 -3.98263674e+01] [-5.36298457e-02 2.60793298e-04 9.98560850e-01 -1.32045641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.83, Y:-39.83, Z:-13.21 [[ 9.79130964e-01 1.96440278e-01 5.20938879e-02 1.97831600e+02] [-1.96152944e-01 9.80515774e-01 -1.06225563e-02 -3.98330612e+01] [-5.31655767e-02 1.82504286e-04 9.98585694e-01 -1.32066744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.86, Y:-39.84, Z:-13.21 [[ 9.78428828e-01 1.99797362e-01 5.25170601e-02 1.97859480e+02] [-1.99510261e-01 9.79837239e-01 -1.07070857e-02 -3.98410652e+01] [-5.35974186e-02 -1.57109795e-06 9.98562625e-01 -1.32086542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.89, Y:-39.85, Z:-13.21 [[ 9.78024004e-01 2.01657423e-01 5.29464922e-02 1.97887897e+02] [-2.01368486e-01 9.79456110e-01 -1.07916905e-02 -3.98473972e+01] [-5.40349898e-02 -1.07222577e-04 9.98539037e-01 -1.32104525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:-39.85, Z:-13.21 [[ 9.77196102e-01 2.05520682e-01 5.33762806e-02 1.97915676e+02] [-2.05232851e-01 9.78652719e-01 -1.08780852e-02 -3.98536458e+01] [-5.44725136e-02 -3.24543814e-04 9.98515218e-01 -1.32123400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:-39.86, Z:-13.21 [[ 9.76698937e-01 2.07875245e-01 5.33579288e-02 1.97942429e+02] [-2.07591212e-01 9.78155240e-01 -1.08726841e-02 -3.98602190e+01] [-5.44524995e-02 -4.57298110e-04 9.98516257e-01 -1.32148481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:-39.87, Z:-13.22 [[ 9.76517276e-01 2.08659778e-01 5.36200165e-02 1.97969684e+02] [-2.08374327e-01 9.77988159e-01 -1.09224592e-02 -3.98661193e+01] [-5.47188191e-02 -5.07064730e-04 9.98501674e-01 -1.32169699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:-39.87, Z:-13.22 [[ 9.76414949e-01 2.09168081e-01 5.35028996e-02 1.97998054e+02] [-2.08884821e-01 9.77879555e-01 -1.08952673e-02 -3.98721412e+01] [-5.45983338e-02 -5.37641749e-04 9.98508254e-01 -1.32185181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:-39.88, Z:-13.22 [[ 9.76342314e-01 2.09541346e-01 5.33676946e-02 1.98025818e+02] [-2.09260220e-01 9.77799627e-01 -1.08650554e-02 -3.98776298e+01] [-5.44595902e-02 -5.59722202e-04 9.98515818e-01 -1.32203589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:-39.88, Z:-13.22 [[ 9.76212134e-01 2.10039709e-01 5.37883753e-02 1.98052871e+02] [-2.09755028e-01 9.77692675e-01 -1.09481155e-02 -3.98825980e+01] [-5.48880395e-02 -5.94698966e-04 9.98492338e-01 -1.32226532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-39.89, Z:-13.22 [[ 9.76207684e-01 2.10026765e-01 5.39195325e-02 1.98081661e+02] [-2.09740872e-01 9.77695453e-01 -1.09712163e-02 -3.98868515e+01] [-5.50211309e-02 -5.98944143e-04 9.98485011e-01 -1.32244418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:198.11, Y:-39.89, Z:-13.22 [[ 9.76366576e-01 2.09528075e-01 5.29744746e-02 1.98110740e+02] [-2.09251526e-01 9.77802469e-01 -1.07763890e-02 -3.98893723e+01] [-5.40565281e-02 -5.63283611e-04 9.98537718e-01 -1.32237530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:-39.90, Z:-13.23 [[ 9.76297890e-01 2.08785525e-01 5.70178457e-02 1.98135585e+02] [-2.08907085e-01 9.77927770e-01 -3.88679309e-03 -3.98985254e+01] [-5.65708408e-02 -8.11676407e-03 9.98365593e-01 -1.32300599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-39.90, Z:-13.23 [[ 9.76600588e-01 2.08827689e-01 5.14031858e-02 1.98166186e+02] [-2.08163656e-01 9.77928196e-01 -1.80093274e-02 -3.98963291e+01] [-5.40294710e-02 6.88764466e-03 9.98515587e-01 -1.32303978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-39.91, Z:-13.23 [[ 9.77123884e-01 2.06037226e-01 5.27027209e-02 1.98192302e+02] [-2.05758897e-01 9.78544082e-01 -1.07124445e-02 -3.99050073e+01] [-5.37790980e-02 -3.76668385e-04 9.98552786e-01 -1.32326822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-39.91, Z:-13.23 [[ 9.77851955e-01 2.02292459e-01 5.36965175e-02 1.98220462e+02] [-2.01998068e-01 9.79325140e-01 -1.09110433e-02 -3.99080911e+01] [-5.47935713e-02 -1.77207724e-04 9.98497688e-01 -1.32345558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-39.91, Z:-13.24 [[ 9.78332508e-01 1.99909821e-01 5.38661934e-02 1.98248620e+02] [-1.99610144e-01 9.79814299e-01 -1.09420941e-02 -3.99134678e+01] [-5.49662986e-02 -4.72322061e-05 9.98488209e-01 -1.32364061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:-39.92, Z:-13.24 [[ 9.78874214e-01 1.97294078e-01 5.36686172e-02 1.98277114e+02] [-1.96992808e-01 9.80344346e-01 -1.08993663e-02 -3.99198462e+01] [-5.47641059e-02 9.67770615e-05 9.98499316e-01 -1.32384277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-39.93, Z:-13.24 [[ 9.79883814e-01 1.92291168e-01 5.34024080e-02 1.98306559e+02] [-1.91985627e-01 9.81337846e-01 -1.08420549e-02 -3.99270395e+01] [-5.44906355e-02 3.71459372e-04 9.98514213e-01 -1.32405056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:198.34, Y:-39.93, Z:-13.24 [[ 9.80327008e-01 1.90219740e-01 5.26821456e-02 1.98335785e+02] [-1.89919392e-01 9.81741422e-01 -1.06960060e-02 -3.99332689e+01] [-5.37548360e-02 4.80222456e-04 9.98554048e-01 -1.32408154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:198.37, Y:-39.94, Z:-13.24 [[ 9.80920208e-01 1.87258095e-01 5.22489362e-02 1.98365103e+02] [-1.86958515e-01 9.82310542e-01 -1.06072114e-02 -3.99407400e+01] [-5.33109670e-02 6.36444517e-04 9.98577756e-01 -1.32429369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:198.39, Y:-39.95, Z:-13.25 [[ 9.81102680e-01 1.86250809e-01 5.24229598e-02 1.98394924e+02] [-1.85947791e-01 9.82501987e-01 -1.06425405e-02 -3.99478744e+01] [-5.34878440e-02 6.93491414e-04 9.98568260e-01 -1.32455002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:-39.96, Z:-13.25 [[ 9.81170928e-01 1.85874900e-01 5.24798112e-02 1.98424279e+02] [-1.85570697e-01 9.82573158e-01 -1.06538962e-02 -3.99551833e+01] [-5.35455458e-02 7.14578098e-04 9.98565153e-01 -1.32493417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:-39.97, Z:-13.25 [[ 9.81064033e-01 1.86140571e-01 5.35261745e-02 1.98452552e+02] [-1.86030873e-01 9.82518473e-01 -7.06852672e-03 -3.99657711e+01] [-5.39061948e-02 -3.02284361e-03 9.98541429e-01 -1.32522662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:-39.97, Z:-13.25 [[ 9.80972782e-01 1.87242651e-01 5.13087866e-02 1.98483370e+02] [-1.86755580e-01 9.82304196e-01 -1.41710685e-02 -3.99691085e+01] [-5.30542648e-02 4.31923020e-03 9.98582290e-01 -1.32536771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:-39.98, Z:-13.26 [[ 9.80634701e-01 1.88778370e-01 5.21374221e-02 1.98512183e+02] [-1.88482112e-01 9.82019562e-01 -1.05864937e-02 -3.99792055e+01] [-5.31984694e-02 5.54511698e-04 9.98583805e-01 -1.32554764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-39.99, Z:-13.26 [[ 9.80445195e-01 1.89723260e-01 5.22714516e-02 1.98543117e+02] [-1.89426838e-01 9.81837477e-01 -1.06133251e-02 -3.99864944e+01] [-5.33356648e-02 5.04167776e-04 9.98576513e-01 -1.32575328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-40.00, Z:-13.26 [[ 9.80143438e-01 1.91223921e-01 5.24619144e-02 1.98573115e+02] [-1.90927467e-01 9.81546347e-01 -1.06522524e-02 -3.99957950e+01] [-5.35307659e-02 4.24314864e-04 9.98566111e-01 -1.32605394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:-40.00, Z:-13.26 [[ 9.79987435e-01 1.92037038e-01 5.24061375e-02 1.98602302e+02] [-1.91742014e-01 9.81387603e-01 -1.06476811e-02 -4.00037690e+01] [-5.34754828e-02 3.86135367e-04 9.98569088e-01 -1.32629159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-40.01, Z:-13.26 [[ 9.79767576e-01 1.93095380e-01 5.26276748e-02 1.98632099e+02] [-1.92799399e-01 9.81179936e-01 -1.06923262e-02 -4.00118519e+01] [-5.37018573e-02 3.29410487e-04 9.98556960e-01 -1.32648560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:-40.02, Z:-13.27 [[ 9.79363371e-01 1.94973485e-01 5.32233818e-02 1.98661520e+02] [-1.94673448e-01 9.80808486e-01 -1.08148918e-02 -4.00215646e+01] [-5.43105617e-02 2.30529661e-04 9.98524066e-01 -1.32662826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-40.03, Z:-13.27 [[ 9.78875333e-01 1.97197561e-01 5.40018983e-02 1.98692423e+02] [-1.96892138e-01 9.80363764e-01 -1.09715874e-02 -4.00309361e+01] [-5.51050746e-02 1.07267089e-04 9.98480555e-01 -1.32678213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:198.72, Y:-40.04, Z:-13.27 [[ 9.78669770e-01 1.98215761e-01 5.39999339e-02 1.98722426e+02] [-1.97911366e-01 9.80158410e-01 -1.09810037e-02 -4.00390488e+01] [-5.51050974e-02 5.95757000e-05 9.98480558e-01 -1.32687576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.75, Y:-40.05, Z:-13.27 [[ 9.78446964e-01 1.99317055e-01 5.39837957e-02 1.98753511e+02] [-1.99014036e-01 9.79935055e-01 -1.09864472e-02 -4.00480958e+01] [-5.50904001e-02 6.12286596e-06 9.98481371e-01 -1.32711931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:-40.06, Z:-13.27 [[ 9.78062976e-01 2.01166762e-01 5.40809439e-02 1.98782507e+02] [-2.00864929e-01 9.79557005e-01 -1.10160852e-02 -4.00594927e+01] [-5.51914376e-02 -8.85398490e-05 9.98475787e-01 -1.32738740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:-40.07, Z:-13.28 [[ 9.77847656e-01 2.02192301e-01 5.41501237e-02 1.98813907e+02] [-2.01890778e-01 9.79345830e-01 -1.10389908e-02 -4.00683940e+01] [-5.52636968e-02 -1.37959321e-04 9.98471785e-01 -1.32762879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-40.08, Z:-13.28 [[ 9.77539924e-01 2.03816270e-01 5.36155317e-02 1.98844210e+02] [-2.03522610e-01 9.79009132e-01 -1.09392317e-02 -4.00788535e+01] [-5.47196886e-02 -2.18437191e-04 9.98501732e-01 -1.32786024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:-40.09, Z:-13.28 [[ 9.77415697e-01 2.04544736e-01 5.31037348e-02 1.98874501e+02] [-2.04257070e-01 9.78857186e-01 -1.08470428e-02 -4.00867203e+01] [-5.41996779e-02 -2.44743365e-04 9.98530087e-01 -1.32808280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:-40.10, Z:-13.28 [[ 9.77176985e-01 2.05984116e-01 5.19199700e-02 1.98905442e+02] [-2.05711232e-01 9.78555283e-01 -1.06040898e-02 -4.00964540e+01] [-5.29908350e-02 -3.18448513e-04 9.98594948e-01 -1.32835515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:-40.11, Z:-13.29 [[ 9.76944236e-01 2.07133704e-01 5.17260838e-02 1.98936021e+02] [-2.06863932e-01 9.78312574e-01 -1.05745786e-02 -4.01053915e+01] [-5.27946298e-02 -3.69487458e-04 9.98605323e-01 -1.32863300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-40.11, Z:-13.29 [[ 9.76747648e-01 2.08009845e-01 5.19224154e-02 1.98966486e+02] [-2.07738815e-01 9.78126646e-01 -1.06230305e-02 -4.01139992e+01] [-5.29963930e-02 -4.10281003e-04 9.98594619e-01 -1.32879729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:-40.12, Z:-13.29 [[ 9.76174804e-01 2.10289304e-01 5.34898230e-02 1.98995106e+02] [-2.10004985e-01 9.77639048e-01 -1.09452647e-02 -4.01236960e+01] [-5.45954117e-02 -5.48637844e-04 9.98508408e-01 -1.32887108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:-40.13, Z:-13.29 [[ 9.75586552e-01 2.12772849e-01 5.43929664e-02 1.99025593e+02] [-2.12482665e-01 9.77101441e-01 -1.11305997e-02 -4.01325324e+01] [-5.55157352e-02 -6.98699119e-04 9.98457568e-01 -1.32902163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-40.14, Z:-13.29 [[ 9.75250848e-01 2.14164574e-01 5.49483383e-02 1.99057152e+02] [-2.13870663e-01 9.76797275e-01 -1.12437648e-02 -4.01393726e+01] [-5.60814033e-02 -7.86346435e-04 9.98425890e-01 -1.32924260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-40.15, Z:-13.29 [[ 9.74491928e-01 2.17527448e-01 5.52022702e-02 1.99088622e+02] [-2.17235647e-01 9.76053717e-01 -1.13055124e-02 -4.01465017e+01] [-5.63396403e-02 -9.74770263e-04 9.98411185e-01 -1.32946616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264000000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:199.12, Y:-40.15, Z:-13.30 [[ 9.74168908e-01 2.19048318e-01 5.48887250e-02 1.99118634e+02] [-2.18761680e-01 9.75713451e-01 -1.12511972e-02 -4.01531278e+01] [-5.60202232e-02 -1.04698318e-03 9.98429085e-01 -1.32963649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-40.16, Z:-13.30 [[ 9.73312341e-01 2.22688363e-01 5.54344613e-02 1.99147898e+02] [-2.22401251e-01 9.74888871e-01 -1.13742476e-02 -4.01597937e+01] [-5.65753520e-02 -1.25799800e-03 9.98397540e-01 -1.32991887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-40.16, Z:-13.30 [[ 9.73041315e-01 2.23892932e-01 5.53403448e-02 1.99178527e+02] [-2.23608756e-01 9.74612844e-01 -1.13546419e-02 -4.01645539e+01] [-5.64776349e-02 -1.32604990e-03 9.98402984e-01 -1.33012616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.21, Y:-40.17, Z:-13.30 [[ 9.72810325e-01 2.24878316e-01 5.54059107e-02 1.99209949e+02] [-2.24594982e-01 9.74385873e-01 -1.13694815e-02 -4.01681404e+01] [-5.65434865e-02 -1.38354055e-03 9.98399179e-01 -1.33035249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:-40.17, Z:-13.31 [[ 9.72738981e-01 2.25116171e-01 5.56918711e-02 1.99240629e+02] [-2.24830214e-01 9.74330919e-01 -1.14295436e-02 -4.01738855e+01] [-5.68352871e-02 -1.40325273e-03 9.98382582e-01 -1.33061907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:-40.18, Z:-13.31 [[ 9.72784158e-01 2.24776185e-01 5.62729815e-02 1.99270701e+02] [-2.24483596e-01 9.74409419e-01 -1.15498854e-02 -4.01769293e+01] [-5.74290624e-02 -1.39681568e-03 9.98348612e-01 -1.33073007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-40.18, Z:-13.31 [[ 9.72769291e-01 2.24720699e-01 5.67495696e-02 1.99300825e+02] [-2.24422804e-01 9.74422210e-01 -1.16516873e-02 -4.01808973e+01] [-5.79164163e-02 -1.40149397e-03 9.98320452e-01 -1.33094325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-40.18, Z:-13.31 [[ 9.72725678e-01 2.24801772e-01 5.71744580e-02 1.99330865e+02] [-2.24499537e-01 9.74403487e-01 -1.17389244e-02 -4.01846532e+01] [-5.83499223e-02 -1.41688617e-03 9.98295186e-01 -1.33112019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-40.19, Z:-13.31 [[ 9.72643818e-01 2.25069561e-01 5.75125774e-02 1.99360443e+02] [-2.24764192e-01 9.74341632e-01 -1.18085824e-02 -4.01855111e+01] [-5.86946510e-02 -1.44122328e-03 9.98274943e-01 -1.33136465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-40.19, Z:-13.32 [[ 9.72670050e-01 2.25083105e-01 5.70137760e-02 1.99389615e+02] [-2.24783116e-01 9.74338519e-01 -1.17047903e-02 -4.01887683e+01] [-5.81852686e-02 -1.43083531e-03 9.98304777e-01 -1.33158975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-40.19, Z:-13.32 [[ 9.72757464e-01 2.24499579e-01 5.78174319e-02 1.99418120e+02] [-2.24414152e-01 9.74460609e-01 -8.05041943e-03 -4.01908157e+01] [-5.81481257e-02 -5.14394438e-03 9.98294714e-01 -1.33187933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-40.19, Z:-13.32 [[ 9.72968138e-01 2.24261675e-01 5.51335056e-02 1.99448733e+02] [-2.23766799e-01 9.74526187e-01 -1.50708682e-02 -4.01897506e+01] [-5.71088632e-02 2.32642651e-03 9.98365247e-01 -1.33211023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.48, Y:-40.19, Z:-13.32 [[ 9.73553409e-01 2.21723680e-01 5.50669617e-02 1.99477921e+02] [-2.21438685e-01 9.75108809e-01 -1.13012639e-02 -4.01916945e+01] [-5.62020373e-02 -1.19157160e-03 9.98418705e-01 -1.33237908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-40.19, Z:-13.33 [[ 9.73852475e-01 2.20476251e-01 5.47866821e-02 1.99506912e+02] [-2.20192257e-01 9.75391705e-01 -1.12423749e-02 -4.01944666e+01] [-5.59171519e-02 -1.11518850e-03 9.98434789e-01 -1.33261742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-40.20, Z:-13.33 [[ 9.74190214e-01 2.19038582e-01 5.45483854e-02 1.99534706e+02] [-2.18754948e-01 9.75715654e-01 -1.11908715e-02 -4.01967408e+01] [-5.56749461e-02 -1.03069167e-03 9.98448415e-01 -1.33282477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.56, Y:-40.20, Z:-13.33 [[ 9.74895704e-01 2.15825821e-01 5.47501734e-02 1.99564043e+02] [-2.15535224e-01 9.76431506e-01 -1.12286075e-02 -4.01976506e+01] [-5.58832177e-02 -8.53869702e-04 9.98436947e-01 -1.33311157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-40.20, Z:-13.33 [[ 9.75342942e-01 2.13920370e-01 5.42606838e-02 1.99592479e+02] [-2.13632145e-01 9.76850821e-01 -1.11256304e-02 -4.02013961e+01] [-5.53845925e-02 -7.40521156e-04 9.98464821e-01 -1.33333049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-40.21, Z:-13.34 [[ 9.75350629e-01 2.13885174e-01 5.42612480e-02 1.99621160e+02] [-2.13597048e-01 9.76858527e-01 -1.11228782e-02 -4.02071898e+01] [-5.53845816e-02 -7.41336125e-04 9.98464821e-01 -1.33353173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:-40.21, Z:-13.34 [[ 9.76234469e-01 2.09883048e-01 5.39941435e-02 1.99650248e+02] [-2.09591733e-01 9.77726364e-01 -1.10662934e-02 -4.02086573e+01] [-5.51141250e-02 -5.13429087e-04 9.98479930e-01 -1.33379088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:-40.21, Z:-13.34 [[ 9.76693810e-01 2.07662889e-01 5.42708575e-02 1.99679046e+02] [-2.07365307e-01 9.78200373e-01 -1.11202175e-02 -4.02123957e+01] [-5.53970295e-02 -3.92845459e-04 9.98464328e-01 -1.33399499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:-40.22, Z:-13.34 [[ 9.77087449e-01 2.05676440e-01 5.47477773e-02 1.99707755e+02] [-2.05370642e-01 9.78620008e-01 -1.12151083e-02 -4.02166225e+01] [-5.58839538e-02 -2.85444643e-04 9.98437230e-01 -1.33420085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:-40.22, Z:-13.34 [[ 9.77908292e-01 2.01413385e-01 5.59287075e-02 1.99736550e+02] [-2.01087454e-01 9.79506328e-01 -1.14537964e-02 -4.02195902e+01] [-5.70894708e-02 -4.57988953e-05 9.98369065e-01 -1.33438171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-40.22, Z:-13.35 [[ 9.78337012e-01 1.99246288e-01 5.61926028e-02 1.99765960e+02] [-1.98913779e-01 9.79949443e-01 -1.15064358e-02 -4.02244450e+01] [-5.73585245e-02 7.96890649e-05 9.98353641e-01 -1.33460740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:-40.23, Z:-13.35 [[ 9.79147852e-01 1.95323523e-01 5.58408951e-02 1.99795420e+02] [-1.94988893e-01 9.80738817e-01 -1.14325762e-02 -4.02280705e+01] [-5.69983845e-02 3.05828117e-04 9.98374224e-01 -1.33482498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-40.23, Z:-13.35 [[ 9.79430471e-01 1.94018877e-01 5.54312955e-02 1.99825545e+02] [-1.93687005e-01 9.80997722e-01 -1.13495922e-02 -4.02332573e+01] [-5.65800097e-02 3.79814829e-04 9.98397996e-01 -1.33504206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:-40.24, Z:-13.35 [[ 9.79684142e-01 1.92834355e-01 5.50807978e-02 1.99855683e+02] [-1.92504799e-01 9.81231223e-01 -1.12778276e-02 -4.02387846e+01] [-5.62217512e-02 4.45390931e-04 9.98418207e-01 -1.33525922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:-40.24, Z:-13.35 [[ 9.79767203e-01 1.92389279e-01 5.51597062e-02 1.99884870e+02] [-1.92058080e-01 9.81318574e-01 -1.12938319e-02 -4.02444924e+01] [-5.63020564e-02 4.71458759e-04 9.98413670e-01 -1.33544386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:-40.25, Z:-13.36 [[ 9.79763229e-01 1.92402016e-01 5.51858561e-02 1.99913239e+02] [-1.92070459e-01 9.81316076e-01 -1.13003301e-02 -4.02517175e+01] [-5.63289741e-02 4.72075150e-04 9.98412151e-01 -1.33566986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:199.94, Y:-40.26, Z:-13.36 [[ 9.79696982e-01 1.92784129e-01 5.50281983e-02 1.99942820e+02] [-1.92455160e-01 9.81241092e-01 -1.12664060e-02 -4.02578929e+01] [-5.61679137e-02 4.47203317e-04 9.98421236e-01 -1.33572697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-40.26, Z:-13.36 [[ 9.79536701e-01 1.93316698e-01 5.60045191e-02 1.99972109e+02] [-1.92976795e-01 9.81136318e-01 -1.14665772e-02 -4.02632049e+01] [-5.71647485e-02 4.24360594e-04 9.98364669e-01 -1.33597914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-40.27, Z:-13.36 [[ 9.79274051e-01 1.94402608e-01 5.68327241e-02 2.00000496e+02] [-1.94054479e-01 9.80921757e-01 -1.16347009e-02 -4.02674104e+01] [-5.80102717e-02 3.64915972e-04 9.98315920e-01 -1.33612510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-40.28, Z:-13.36 [[ 9.79329130e-01 1.94159471e-01 5.67146816e-02 2.00029335e+02] [-1.93812463e-01 9.80969907e-01 -1.16091083e-02 -4.02757001e+01] [-5.78894143e-02 3.77125847e-04 9.98322930e-01 -1.33636769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-40.28, Z:-13.37 [[ 9.79527428e-01 1.93365157e-01 5.59994028e-02 2.00057595e+02] [-1.93025659e-01 9.81126772e-01 -1.14609229e-02 -4.02836590e+01] [-5.71586564e-02 4.16966735e-04 9.98365020e-01 -1.33661866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07264000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:200.09, Y:-40.29, Z:-13.37 [[ 9.79787638e-01 1.92325711e-01 5.50182287e-02 2.00087103e+02] [-1.91996331e-01 9.81331035e-01 -1.12609578e-02 -4.02913738e+01] [-5.61568671e-02 4.70049238e-04 9.98421847e-01 -1.33672451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:-40.30, Z:-13.37 [[ 9.80052688e-01 1.90946521e-01 5.51013126e-02 2.00117057e+02] [-1.90613966e-01 9.81600287e-01 -1.12779632e-02 -4.02985811e+01] [-5.62409522e-02 5.49918406e-04 9.98417074e-01 -1.33709491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:-40.31, Z:-13.37 [[ 9.80502719e-01 1.88798011e-01 5.44952300e-02 2.00146662e+02] [-1.88469537e-01 9.82015718e-01 -1.11518205e-02 -4.03069536e+01] [-5.56206139e-02 6.63699546e-04 9.98451755e-01 -1.33737471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:-40.32, Z:-13.38 [[ 9.80734010e-01 1.87655803e-01 5.42780037e-02 2.00177336e+02] [-1.87327604e-01 9.82234574e-01 -1.11180528e-02 -4.03150601e+01] [-5.54000990e-02 7.36084112e-04 9.98463964e-01 -1.33761327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:-40.32, Z:-13.38 [[ 9.81047195e-01 1.86080741e-01 5.40403502e-02 2.00208202e+02] [-1.85753059e-01 9.82534114e-01 -1.10687332e-02 -4.03242861e+01] [-5.51561657e-02 8.20789311e-04 9.98477403e-01 -1.33780201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-40.33, Z:-13.38 [[ 9.81115216e-01 1.85631549e-01 5.43494280e-02 2.00238113e+02] [-1.85298867e-01 9.82619045e-01 -1.11419227e-02 -4.03321895e+01] [-5.54730754e-02 8.60622495e-04 9.98459813e-01 -1.33804719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:-40.34, Z:-13.38 [[ 9.81181055e-01 1.85290882e-01 5.43233509e-02 2.00269168e+02] [-1.84957512e-01 9.82683316e-01 -1.11453175e-02 -4.03412498e+01] [-5.54477763e-02 8.88062511e-04 9.98461194e-01 -1.33827874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.30, Y:-40.35, Z:-13.38 [[ 9.81361622e-01 1.84238265e-01 5.46409101e-02 2.00299124e+02] [-1.83898829e-01 9.82881140e-01 -1.12198467e-02 -4.03528337e+01] [-5.57726451e-02 9.62327596e-04 9.98443031e-01 -1.33847471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:-40.36, Z:-13.39 [[ 9.81451452e-01 1.83505098e-01 5.54880790e-02 2.00330882e+02] [-1.83153289e-01 9.83018219e-01 -1.14041290e-02 -4.03639682e+01] [-5.66385084e-02 1.02977481e-03 9.98394220e-01 -1.33860281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.36, Y:-40.37, Z:-13.39 [[ 9.81460029e-01 1.83475812e-01 5.54331748e-02 2.00361346e+02] [-1.83124022e-01 9.83023673e-01 -1.14039900e-02 -4.03732216e+01] [-5.65844794e-02 1.04141444e-03 9.98397272e-01 -1.33869124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:-40.38, Z:-13.39 [[ 9.81514067e-01 1.83053470e-01 5.58709559e-02 2.00392810e+02] [-1.82694830e-01 9.83102361e-01 -1.15042279e-02 -4.03824849e+01] [-5.70327575e-02 1.08422674e-03 9.98371719e-01 -1.33899987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:-40.39, Z:-13.39 [[ 9.81511150e-01 1.83082188e-01 5.58280822e-02 2.00423707e+02] [-1.82723479e-01 9.83097003e-01 -1.15070855e-02 -4.03920876e+01] [-5.69911627e-02 1.09323133e-03 9.98374084e-01 -1.33920895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:-40.40, Z:-13.39 [[ 9.81433019e-01 1.83540779e-01 5.56957060e-02 2.00453335e+02] [-1.83183892e-01 9.83011509e-01 -1.14906059e-02 -4.04041196e+01] [-5.68585147e-02 1.07470379e-03 9.98381668e-01 -1.33945536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:-40.42, Z:-13.40 [[ 9.81198782e-01 1.85008990e-01 5.49602043e-02 2.00483689e+02] [-1.84663199e-01 9.82736333e-01 -1.13491223e-02 -4.04160450e+01] [-5.61110793e-02 9.86617824e-04 9.98424045e-01 -1.33957813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:-40.42, Z:-13.40 [[ 9.80954711e-01 1.86454732e-01 5.44287470e-02 2.00515152e+02] [-1.86117298e-01 9.82463137e-01 -1.12488455e-02 -4.04245464e+01] [-5.55716380e-02 9.04476619e-04 9.98454293e-01 -1.33980302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:-40.43, Z:-13.40 [[ 9.80553583e-01 1.88585820e-01 5.43144482e-02 2.00545621e+02] [-1.88252440e-01 9.82056393e-01 -1.12365316e-02 -4.04324881e+01] [-5.54589016e-02 7.93193968e-04 9.98460656e-01 -1.34002031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:-40.44, Z:-13.40 [[ 9.79417832e-01 1.94269778e-01 5.47719289e-02 2.00577027e+02] [-1.93939036e-01 9.80948020e-01 -1.13416465e-02 -4.04424977e+01] [-5.59317543e-02 4.85795787e-04 9.98434476e-01 -1.34022882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:-40.45, Z:-13.40 [[ 9.78769020e-01 1.97512717e-01 5.47716384e-02 2.00609331e+02] [-1.97186429e-01 9.80300275e-01 -1.13526595e-02 -4.04505139e+01] [-5.59349468e-02 3.11407606e-04 9.98434367e-01 -1.34045234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:-40.46, Z:-13.41 [[ 9.77400095e-01 2.04105980e-01 5.50436479e-02 2.00641297e+02] [-2.03786161e-01 9.78948796e-01 -1.14216800e-02 -4.04563437e+01] [-5.62161461e-02 -5.35826044e-05 9.98418621e-01 -1.34073393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:-40.46, Z:-13.41 [[ 9.76793703e-01 2.06963946e-01 5.51360832e-02 2.00672176e+02] [-2.06647387e-01 9.78348547e-01 -1.14445805e-02 -4.04622041e+01] [-5.63109224e-02 -2.14733323e-04 9.98413258e-01 -1.34098938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:-40.47, Z:-13.41 [[ 9.76364104e-01 2.08988903e-01 5.51069365e-02 2.00703574e+02] [-2.08675262e-01 9.77917960e-01 -1.14498613e-02 -4.04684841e+01] [-5.62829568e-02 -3.20220843e-04 9.98414807e-01 -1.34126324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:-40.47, Z:-13.42 [[ 9.75968112e-01 2.11046142e-01 5.42749472e-02 2.00734653e+02] [-2.10744745e-01 9.77476007e-01 -1.12830980e-02 -4.04749422e+01] [-5.54337129e-02 -4.26216030e-04 9.98462279e-01 -1.34153209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-40.48, Z:-13.42 [[ 9.75980507e-01 2.11031277e-01 5.41096145e-02 2.00765204e+02] [-2.10731049e-01 9.77479222e-01 -1.12603316e-02 -4.04811221e+01] [-5.52673060e-02 -4.12711648e-04 9.98471509e-01 -1.34179795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:-40.49, Z:-13.42 [[ 9.76128617e-01 2.10398845e-01 5.39003652e-02 2.00795518e+02] [-2.10099898e-01 9.77615561e-01 -1.12181534e-02 -4.04868896e+01] [-5.50541223e-02 -3.74100669e-04 9.98483302e-01 -1.34197815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:-40.49, Z:-13.42 [[ 9.76473063e-01 2.08738699e-01 5.41157440e-02 2.00827485e+02] [-2.08434842e-01 9.77971409e-01 -1.12623451e-02 -4.04929102e+01] [-5.52745377e-02 -2.82229930e-04 9.98471154e-01 -1.34218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264000000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:200.86, Y:-40.50, Z:-13.42 [[ 9.76683949e-01 2.07662851e-01 5.44481785e-02 2.00859039e+02] [-2.07353033e-01 9.78200437e-01 -1.13412873e-02 -4.04994023e+01] [-5.56163961e-02 -2.13141660e-04 9.98452188e-01 -1.34235692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:-40.51, Z:-13.43 [[ 9.77028150e-01 2.06050797e-01 5.43972693e-02 2.00891306e+02] [-2.05738485e-01 9.78541290e-01 -1.13410247e-02 -4.05060426e+01] [-5.55668013e-02 -1.11111417e-04 9.98454966e-01 -1.34263031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:-40.51, Z:-13.43 [[ 9.77886696e-01 2.02177899e-01 5.34949191e-02 2.00922585e+02] [-2.01869481e-01 9.79348806e-01 -1.11637408e-02 -4.05134742e+01] [-5.46472468e-02 1.17882072e-04 9.98505716e-01 -1.34289839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:-40.52, Z:-13.43 [[ 9.78415349e-01 1.99576140e-01 5.35982256e-02 2.00954676e+02] [-1.99262075e-01 9.79882284e-01 -1.11953536e-02 -4.05207969e+01] [-5.47542771e-02 2.73612142e-04 9.98499822e-01 -1.34316331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:-40.53, Z:-13.43 [[ 9.79542810e-01 1.93907515e-01 5.38122591e-02 2.00984977e+02] [-1.93581769e-01 9.81019628e-01 -1.12511292e-02 -4.05304216e+01] [-5.49725609e-02 6.03890390e-04 9.98487683e-01 -1.34340840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-40.54, Z:-13.44 [[ 9.80062953e-01 1.91281015e-01 5.37418006e-02 2.01016934e+02] [-1.90951635e-01 9.81535020e-01 -1.12462086e-02 -4.05393128e+01] [-5.49006455e-02 7.59907790e-04 9.98491533e-01 -1.34362580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-40.55, Z:-13.44 [[ 9.80463905e-01 1.89131914e-01 5.40337847e-02 2.01047978e+02] [-1.88795006e-01 9.81951279e-01 -1.13195101e-02 -4.05475082e+01] [-5.51994246e-02 8.97062414e-04 9.98474947e-01 -1.34382771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:-40.56, Z:-13.44 [[ 9.80834308e-01 1.87088932e-01 5.44223437e-02 2.01079996e+02] [-1.86743672e-01 9.82342445e-01 -1.14070478e-02 -4.05566984e+01] [-5.55955106e-02 1.02539556e-03 9.98452847e-01 -1.34400487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.11, Y:-40.57, Z:-13.44 [[ 9.80755901e-01 1.87461792e-01 5.45521739e-02 2.01111533e+02] [-1.87114854e-01 9.82271369e-01 -1.14450772e-02 -4.05652267e+01] [-5.57305532e-02 1.01730495e-03 9.98445327e-01 -1.34415153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:-40.58, Z:-13.44 [[ 9.80226682e-01 1.89981205e-01 5.53425182e-02 2.01141759e+02] [-1.89627483e-01 9.81787317e-01 -1.16225068e-02 -4.05756592e+01] [-5.65426403e-02 8.98228807e-04 9.98399781e-01 -1.34435357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.17, Y:-40.58, Z:-13.45 [[ 9.79791088e-01 1.92217485e-01 5.53340914e-02 2.01172580e+02] [-1.91866837e-01 9.81352042e-01 -1.16312418e-02 -4.05837880e+01] [-5.65379516e-02 7.79409929e-04 9.98400147e-01 -1.34451907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:-40.59, Z:-13.45 [[ 9.79394435e-01 1.94249693e-01 5.52593663e-02 2.01205016e+02] [-1.93902641e-01 9.80951888e-01 -1.16258179e-02 -4.05911081e+01] [-5.64650912e-02 6.71324262e-04 9.98404348e-01 -1.34475166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-40.60, Z:-13.45 [[ 9.79015437e-01 1.96177375e-01 5.51653155e-02 2.01236964e+02] [-1.95833932e-01 9.80568260e-01 -1.16171706e-02 -4.05990277e+01] [-5.63723835e-02 5.70148662e-04 9.98409650e-01 -1.34501496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:-40.61, Z:-13.45 [[ 9.78466345e-01 1.98790120e-01 5.55526793e-02 2.01267483e+02] [-1.98445388e-01 9.80041989e-01 -1.17101583e-02 -4.06079534e+01] [-5.67718221e-02 4.33822795e-04 9.98387085e-01 -1.34522492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:-40.62, Z:-13.45 [[ 9.78219835e-01 1.99846242e-01 5.61019939e-02 2.01297996e+02] [-1.99495733e-01 9.79827194e-01 -1.18373647e-02 -4.06172360e+01] [-5.73359121e-02 3.87436581e-04 9.98354868e-01 -1.34541468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27264000000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:201.33, Y:-40.63, Z:-13.46 [[ 9.78149274e-01 2.00376409e-01 5.54372886e-02 2.01330205e+02] [-2.00034688e-01 9.79718922e-01 -1.17028576e-02 -4.06259570e+01] [-5.66579372e-02 3.57760922e-04 9.98393585e-01 -1.34557340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:-40.63, Z:-13.46 [[ 9.78072296e-01 2.00759452e-01 5.54096303e-02 2.01360776e+02] [-2.00418027e-01 9.79640507e-01 -1.17086442e-02 -4.06340952e+01] [-5.66321393e-02 3.46811736e-04 9.98395052e-01 -1.34585084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:-40.65, Z:-13.46 [[ 9.77820192e-01 2.02182546e-01 5.46798811e-02 2.01390582e+02] [-2.01851698e-01 9.79347816e-01 -1.15649180e-02 -4.06450430e+01] [-5.58888467e-02 2.71183438e-04 9.98436960e-01 -1.34612991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:-40.66, Z:-13.46 [[ 9.77490111e-01 2.02850988e-01 5.80048226e-02 2.01420451e+02] [-2.02891073e-01 9.79187189e-01 -5.25941700e-03 -4.06566593e+01] [-5.78644571e-02 -6.62763257e-03 9.98302449e-01 -1.34643147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:-40.66, Z:-13.47 [[ 9.76904506e-01 2.07145832e-01 5.24231825e-02 2.01453101e+02] [-2.06462377e-01 9.78285396e-01 -1.81926311e-02 -4.06558617e+01] [-5.50533615e-02 6.94904842e-03 9.98459232e-01 -1.34661683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-40.67, Z:-13.47 [[ 9.76456146e-01 2.08901360e-01 5.37923535e-02 2.01483901e+02] [-2.08590134e-01 9.77936712e-01 -1.13992247e-02 -4.06669820e+01] [-5.49868309e-02 -8.97112255e-05 9.98487076e-01 -1.34686263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:-40.67, Z:-13.47 [[ 9.76015088e-01 2.11020417e-01 5.35250540e-02 2.01515789e+02] [-2.10714893e-01 9.77481634e-01 -1.13529538e-02 -4.06744605e+01] [-5.47154623e-02 -1.97871851e-04 9.98501967e-01 -1.34705557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:-40.68, Z:-13.47 [[ 9.75997443e-01 2.11102643e-01 5.35225755e-02 2.01548457e+02] [-2.10796602e-01 9.77463881e-01 -1.13646258e-02 -4.06815381e+01] [-5.47154869e-02 -1.90531327e-04 9.98501968e-01 -1.34728569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:-40.69, Z:-13.48 [[ 9.75323306e-01 2.14214317e-01 5.34478746e-02 2.01579602e+02] [-2.13913614e-01 9.76786617e-01 -1.13520750e-02 -4.06880200e+01] [-5.46389456e-02 -3.61284707e-04 9.98506112e-01 -1.34753476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:-40.69, Z:-13.48 [[ 9.75050900e-01 2.15430928e-01 5.35280957e-02 2.01611100e+02] [-2.15130593e-01 9.76518990e-01 -1.13793352e-02 -4.06940562e+01] [-5.47226627e-02 -4.20099983e-04 9.98501504e-01 -1.34772787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-40.70, Z:-13.48 [[ 9.74827138e-01 2.16360960e-01 5.38515082e-02 2.01643135e+02] [-2.16057925e-01 9.76313329e-01 -1.14567051e-02 -4.07002983e+01] [-5.50547290e-02 -4.66738069e-04 9.98483229e-01 -1.34797052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.67, Y:-40.71, Z:-13.48 [[ 9.74762632e-01 2.16574013e-01 5.41618679e-02 2.01674413e+02] [-2.16267176e-01 9.76266088e-01 -1.15339977e-02 -4.07072916e+01] [-5.53743590e-02 -4.70524319e-04 9.98465552e-01 -1.34813389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:-40.71, Z:-13.48 [[ 9.74827134e-01 2.16261523e-01 5.42495462e-02 2.01706354e+02] [-2.15952643e-01 9.76335371e-01 -1.15628302e-02 -4.07149278e+01] [-5.54663461e-02 -4.43572290e-04 9.98460459e-01 -1.34839595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:-40.72, Z:-13.49 [[ 9.75393844e-01 2.13860058e-01 5.35791480e-02 2.01738009e+02] [-2.13554566e-01 9.76864264e-01 -1.14305518e-02 -4.07225573e+01] [-5.47840934e-02 -2.92781896e-04 9.98498181e-01 -1.34861186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:-40.73, Z:-13.49 [[ 9.75810070e-01 2.12190195e-01 5.26310556e-02 2.01770431e+02] [-2.11892446e-01 9.77228370e-01 -1.12385240e-02 -4.07296170e+01] [-5.38172652e-02 -1.85458271e-04 9.98550784e-01 -1.34881620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:201.80, Y:-40.74, Z:-13.49 [[ 9.76256291e-01 2.10326032e-01 5.18325657e-02 2.01801538e+02] [-2.10034011e-01 9.77631298e-01 -1.10796616e-02 -4.07362675e+01] [-5.30034797e-02 -7.00122946e-05 9.98594325e-01 -1.34900504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:-40.74, Z:-13.49 [[ 9.76620312e-01 2.08740320e-01 5.13833195e-02 2.01833188e+02] [-2.08450870e-01 9.77971103e-01 -1.09889121e-02 -4.07437050e+01] [-5.25452307e-02 2.10970325e-05 9.98618545e-01 -1.34929326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-40.75, Z:-13.49 [[ 9.77440301e-01 2.04845842e-01 5.14649334e-02 2.01865389e+02] [-2.04549512e-01 9.78794219e-01 -1.10170047e-02 -4.07526860e+01] [-5.26303668e-02 2.41337369e-04 9.98614033e-01 -1.34945866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:-40.76, Z:-13.50 [[ 9.77746446e-01 2.03258374e-01 5.19415196e-02 2.01896085e+02] [-2.02953701e-01 9.79125077e-01 -1.11300464e-02 -4.07603379e+01] [-5.31195196e-02 3.40639670e-04 9.98588104e-01 -1.34960045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-40.77, Z:-13.50 [[ 9.77963188e-01 2.02142563e-01 5.22148199e-02 2.01927768e+02] [-2.01832553e-01 9.79356020e-01 -1.11985202e-02 -4.07685994e+01] [-5.34005957e-02 4.13090137e-04 9.98573085e-01 -1.34974414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87264000000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:201.96, Y:-40.78, Z:-13.50 [[ 9.78376602e-01 2.00146902e-01 5.21578537e-02 2.01958243e+02] [-1.99834155e-01 9.79765755e-01 -1.11971475e-02 -4.07791641e+01] [-5.33435533e-02 5.32106454e-04 9.98576077e-01 -1.34971782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:-40.79, Z:-13.50 [[ 9.78314579e-01 2.00322538e-01 5.26447026e-02 2.01989832e+02] [-2.00003636e-01 9.79729857e-01 -1.13116443e-02 -4.07878209e+01] [-5.38435643e-02 5.37214626e-04 9.98549239e-01 -1.35001159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:-40.80, Z:-13.50 [[ 9.78210477e-01 2.00808356e-01 5.27282452e-02 2.02021146e+02] [-2.00488512e-01 9.79630405e-01 -1.13413338e-02 -4.07956157e+01] [-5.39316269e-02 5.22804150e-04 9.98544494e-01 -1.35019351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:-40.80, Z:-13.50 [[ 9.77753837e-01 2.03080786e-01 5.24940774e-02 2.02052652e+02] [-2.02766759e-01 9.79161904e-01 -1.12963737e-02 -4.08044033e+01] [-5.36942772e-02 4.01018852e-04 9.98557341e-01 -1.35034211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:-40.81, Z:-13.51 [[ 9.77480680e-01 2.04498531e-01 5.20756382e-02 2.02083975e+02] [-2.04190934e-01 9.78866815e-01 -1.12170048e-02 -4.08120483e+01] [-5.32689751e-02 3.31032247e-04 9.98580145e-01 -1.35052855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-40.82, Z:-13.51 [[ 9.77211059e-01 2.05956009e-01 5.13874294e-02 2.02115920e+02] [-2.05658010e-01 9.78561217e-01 -1.10782038e-02 -4.08196704e+01] [-5.25673681e-02 2.57506810e-04 9.98617347e-01 -1.35074500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:-40.83, Z:-13.51 [[ 9.76784108e-01 2.08148753e-01 5.06646127e-02 2.02147176e+02] [-2.07861454e-01 9.78097170e-01 -1.09334972e-02 -4.08262897e+01] [-5.18307081e-02 1.48446272e-04 9.98655874e-01 -1.35094418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:-40.84, Z:-13.51 [[ 9.76512523e-01 2.08610709e-01 5.38967923e-02 2.02178824e+02] [-2.08618886e-01 9.77981340e-01 -5.53698401e-03 -4.08366870e+01] [-5.38651313e-02 -5.83695455e-03 9.98531160e-01 -1.35118676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:-40.84, Z:-13.51 [[ 9.76300369e-01 2.10525336e-01 5.01664538e-02 2.02211218e+02] [-2.09934317e-01 9.77570586e-01 -1.68324497e-02 -4.08378600e+01] [-5.25849068e-02 5.90186662e-03 9.98599016e-01 -1.35138238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:-40.85, Z:-13.51 [[ 9.75873234e-01 2.12007371e-01 5.21948849e-02 2.02241708e+02] [-2.11706586e-01 9.77268066e-01 -1.12892845e-02 -4.08490182e+01] [-5.34018058e-02 -3.30903369e-05 9.98573105e-01 -1.35147986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-40.86, Z:-13.52 [[ 9.75562416e-01 2.13458961e-01 5.20888058e-02 2.02273616e+02] [-2.13160945e-01 9.76952026e-01 -1.12760954e-02 -4.08561276e+01] [-5.32952480e-02 -1.02764166e-04 9.98578793e-01 -1.35160386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-40.86, Z:-13.52 [[ 9.75179015e-01 2.15198163e-01 5.21117887e-02 2.02304456e+02] [-2.14901779e-01 9.76570384e-01 -1.12920305e-02 -4.08625998e+01] [-5.33208537e-02 -1.87164884e-04 9.98577414e-01 -1.35174739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:-40.87, Z:-13.52 [[ 9.74740280e-01 2.17171424e-01 5.21340574e-02 2.02336239e+02] [-2.16877062e-01 9.76133439e-01 -1.13070227e-02 -4.08687487e+01] [-5.33453589e-02 -2.85270760e-04 9.98576082e-01 -1.35201281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-40.87, Z:-13.52 [[ 9.73905215e-01 2.21241550e-01 5.06044347e-02 2.02369283e+02] [-2.20969257e-01 9.75218920e-01 -1.09838885e-02 -4.08738953e+01] [-5.17804946e-02 -4.84758038e-04 9.98658373e-01 -1.35219986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:-40.88, Z:-13.52 [[ 9.73475477e-01 2.23079302e-01 5.08047382e-02 2.02400282e+02] [-2.22806798e-01 9.74800131e-01 -1.10379110e-02 -4.08795734e+01] [-5.19867950e-02 -5.74505416e-04 9.98647607e-01 -1.35245959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:-40.88, Z:-13.53 [[ 9.73219215e-01 2.24282739e-01 5.04144166e-02 2.02431487e+02] [-2.24015524e-01 9.74523916e-01 -1.09627513e-02 -4.08849664e+01] [-5.15888106e-02 -6.24451809e-04 9.98668216e-01 -1.35270840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:-40.89, Z:-13.53 [[ 9.73080993e-01 2.24851638e-01 5.05482108e-02 2.02464266e+02] [-2.24583338e-01 9.74392796e-01 -1.10001658e-02 -4.08912290e+01] [-5.17272177e-02 -6.48233665e-04 9.98661041e-01 -1.35296532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-40.90, Z:-13.53 [[ 9.73233103e-01 2.24028865e-01 5.12678793e-02 2.02496528e+02] [-2.23751165e-01 9.74582323e-01 -1.11674546e-02 -4.08973987e+01] [-5.24666010e-02 -6.02711256e-04 9.98622498e-01 -1.35316180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:202.53, Y:-40.90, Z:-13.53 [[ 9.73498055e-01 2.22862891e-01 5.13192770e-02 2.02528039e+02] [-2.22582393e-01 9.74849656e-01 -1.11904479e-02 -4.09033263e+01] [-5.25225151e-02 -5.28888196e-04 9.98619600e-01 -1.35331904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:-40.91, Z:-13.54 [[ 9.73703978e-01 2.22022505e-01 5.10545931e-02 2.02558992e+02] [-2.21743401e-01 9.75041426e-01 -1.11392172e-02 -4.09090026e+01] [-5.22535002e-02 -4.74719014e-04 9.98633740e-01 -1.35360542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-40.91, Z:-13.54 [[ 9.73900047e-01 2.21284734e-01 5.05150025e-02 2.02589407e+02] [-2.21010210e-01 9.75209150e-01 -1.10272849e-02 -4.09145217e+01] [-5.17028625e-02 -4.24858030e-04 9.98662422e-01 -1.35384817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.62, Y:-40.92, Z:-13.54 [[ 9.74167538e-01 2.20412682e-01 4.91513820e-02 2.02621017e+02] [-2.20151309e-01 9.75406643e-01 -1.07369415e-02 -4.09189810e+01] [-5.03091426e-02 -3.61161288e-04 9.98733628e-01 -1.35399150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:-40.93, Z:-13.54 [[ 9.74060658e-01 2.20789882e-01 4.95748245e-02 2.02652876e+02] [-2.20524027e-01 9.75321325e-01 -1.08381889e-02 -4.09253213e+01] [-5.07443460e-02 -3.75386576e-04 9.98711605e-01 -1.35433876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:-40.93, Z:-13.55 [[ 9.73999486e-01 2.21147365e-01 4.91817422e-02 2.02684072e+02] [-2.20885741e-01 9.75240328e-01 -1.07607180e-02 -4.09315925e+01] [-5.03437228e-02 -3.82611789e-04 9.98731878e-01 -1.35454959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:-40.94, Z:-13.55 [[ 9.73941051e-01 2.21471329e-01 4.88802538e-02 2.02713977e+02] [-2.21212864e-01 9.75166806e-01 -1.07036890e-02 -4.09382172e+01] [-5.00369612e-02 -3.88178810e-04 9.98747291e-01 -1.35480225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.74, Y:-40.95, Z:-13.55 [[ 9.73870640e-01 2.21265073e-01 5.11638908e-02 2.02743639e+02] [-2.21751883e-01 9.75095038e-01 3.97102092e-03 -4.09539853e+01] [-4.90110078e-02 -1.52129498e-02 9.98682376e-01 -1.35454782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-40.94, Z:-13.55 [[ 9.73579506e-01 2.23755437e-01 4.55680903e-02 2.02778261e+02] [-2.22798713e-01 9.74539836e-01 -2.51563318e-02 -4.09414970e+01] [-5.00367852e-02 1.43391772e-02 9.98644435e-01 -1.35523453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:-40.95, Z:-13.55 [[ 9.73521921e-01 2.23188944e-01 4.94142099e-02 2.02806258e+02] [-2.22925900e-01 9.74775094e-01 -1.08425134e-02 -4.09546197e+01] [-5.05876702e-02 -4.60282687e-04 9.98719518e-01 -1.35545686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-40.96, Z:-13.56 [[ 9.73541094e-01 2.23051765e-01 4.96553021e-02 2.02837396e+02] [-2.22785947e-01 9.74806495e-01 -1.08958178e-02 -4.09604603e+01] [-5.08346424e-02 -4.54977125e-04 9.98706980e-01 -1.35565373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-40.97, Z:-13.56 [[ 9.73699820e-01 2.21590614e-01 5.29741420e-02 2.02866349e+02] [-2.21915788e-01 9.75065800e-01 2.63028152e-04 -4.09723736e+01] [-5.15949896e-02 -1.20119089e-02 9.98595850e-01 -1.35558340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:-40.97, Z:-13.56 [[ 9.73769094e-01 2.22480145e-01 4.77109611e-02 2.02899633e+02] [-2.21636330e-01 9.74872800e-01 -2.23687384e-02 -4.09652363e+01] [-5.14887184e-02 1.12075038e-02 9.98610687e-01 -1.35612844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:202.93, Y:-40.98, Z:-13.56 [[ 9.73968828e-01 2.21245088e-01 4.93490919e-02 2.02929007e+02] [-2.20979670e-01 9.75218176e-01 -1.08395182e-02 -4.09781926e+01] [-5.05243216e-02 -3.47793242e-04 9.98722770e-01 -1.35611913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:-40.99, Z:-13.56 [[ 9.73874337e-01 2.21035071e-01 5.20794826e-02 2.02957826e+02] [-2.21295858e-01 9.75206409e-01 -7.76892424e-04 -4.09912898e+01] [-5.09599656e-02 -1.07683782e-02 9.98642641e-01 -1.35625890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:-40.99, Z:-13.57 [[ 9.73631967e-01 2.22665831e-01 4.96056561e-02 2.02989005e+02] [-2.22438490e-01 9.74894123e-01 -1.01275817e-02 -4.09919621e+01] [-5.06153290e-02 -1.17366993e-03 9.98717533e-01 -1.35654503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-40.99, Z:-13.57 [[ 9.73578358e-01 2.23649030e-01 4.61117402e-02 2.03020679e+02] [-2.22854879e-01 9.74608648e-01 -2.17643415e-02 -4.09901410e+01] [-4.98084746e-02 1.09130656e-02 9.98699164e-01 -1.35697074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:-41.00, Z:-13.57 [[ 9.73490566e-01 2.23572199e-01 4.82865470e-02 2.03049581e+02] [-2.23320146e-01 9.74687271e-01 -1.06224423e-02 -4.10023656e+01] [-4.94391655e-02 -4.42511335e-04 9.98777039e-01 -1.35712708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.08, Y:-41.01, Z:-13.57 [[ 9.73110741e-01 2.24443945e-01 5.17725826e-02 2.03078622e+02] [-2.24652639e-01 9.74437197e-01 -1.82784472e-03 -4.10139962e+01] [-5.08593790e-02 -9.85215201e-03 9.98657228e-01 -1.35713680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:203.11, Y:-41.01, Z:-13.57 [[ 9.72874631e-01 2.26518058e-01 4.69523299e-02 2.03111752e+02] [-2.25809759e-01 9.73967177e-01 -1.99471992e-02 -4.10099132e+01] [-5.02484290e-02 8.80382973e-03 9.98697946e-01 -1.35733626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:-41.02, Z:-13.58 [[ 9.72663251e-01 2.26902852e-01 4.94094789e-02 2.03139191e+02] [-2.26642554e-01 9.73917204e-01 -1.08826803e-02 -4.10198642e+01] [-5.05900527e-02 -6.13107304e-04 9.98719315e-01 -1.35772578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:-41.03, Z:-13.58 [[ 9.72328151e-01 2.27699466e-01 5.22582009e-02 2.03166698e+02] [-2.27792815e-01 9.73700384e-01 -4.24221038e-03 -4.10277172e+01] [-5.18497793e-02 -7.77922212e-03 9.98624596e-01 -1.35803081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:-41.03, Z:-13.58 [[ 9.72378421e-01 2.28652962e-01 4.68831458e-02 2.03196169e+02] [-2.28065730e-01 9.73486912e-01 -1.75856691e-02 -4.10259304e+01] [-4.96611441e-02 6.40748630e-03 9.98745571e-01 -1.35820124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-41.04, Z:-13.58 [[ 9.72409608e-01 2.27842323e-01 5.00742487e-02 2.03225249e+02] [-2.27968998e-01 9.73662990e-01 -3.24306252e-03 -4.10407353e+01] [-4.94943496e-02 -8.26179114e-03 9.98740233e-01 -1.35816029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-41.04, Z:-13.59 [[ 9.72389839e-01 2.28688291e-01 4.64722098e-02 2.03256628e+02] [-2.28080136e-01 9.73474777e-01 -1.80640611e-02 -4.10373195e+01] [-4.93705633e-02 6.96592157e-03 9.98756238e-01 -1.35854948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-41.05, Z:-13.59 [[ 9.72432229e-01 2.28055350e-01 4.86447986e-02 2.03283512e+02] [-2.27804404e-01 9.73647945e-01 -1.07160090e-02 -4.10461665e+01] [-4.98067514e-02 -6.60906812e-04 9.98758655e-01 -1.35876942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:-41.06, Z:-13.59 [[ 9.72518012e-01 2.25917676e-01 5.63020394e-02 2.03310642e+02] [-2.26490250e-01 9.74005539e-01 3.92135013e-03 -4.10601171e+01] [-5.39525960e-02 -1.65654466e-02 9.98406081e-01 -1.35907520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:-41.05, Z:-13.59 [[ 9.72558912e-01 2.27903403e-01 4.67888978e-02 2.03344898e+02] [-2.26865662e-01 9.73566107e-01 -2.64765203e-02 -4.10493204e+01] [-5.15861741e-02 1.51351815e-02 9.98553851e-01 -1.35906774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:-41.07, Z:-13.59 [[ 9.72596401e-01 2.25443766e-01 5.68449523e-02 2.03370103e+02] [-2.25759058e-01 9.74182757e-01 -8.96867126e-04 -4.10702432e+01] [-5.55795654e-02 -1.19609731e-02 9.98382616e-01 -1.35933739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:-41.06, Z:-13.59 [[ 9.73072543e-01 2.24847135e-01 5.07305801e-02 2.03403077e+02] [-2.23949360e-01 9.74333805e-01 -2.28105207e-02 -4.10640979e+01] [-5.45573994e-02 1.08352104e-02 9.98451846e-01 -1.35935892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-41.08, Z:-13.59 [[ 9.73360727e-01 2.22282534e-01 5.62082797e-02 2.03431636e+02] [-2.22390836e-01 9.74947667e-01 -4.40026947e-03 -4.10821473e+01] [-5.57782342e-02 -8.21715684e-03 9.98409368e-01 -1.35948718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-41.09, Z:-13.60 [[ 9.73627169e-01 2.21257365e-01 5.56355557e-02 2.03463088e+02] [-2.20985358e-01 9.75214276e-01 -1.10719220e-02 -4.10854565e+01] [-5.67063324e-02 -1.51471917e-03 9.98389752e-01 -1.35974033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-41.09, Z:-13.60 [[ 9.74425024e-01 2.17576896e-01 5.61797736e-02 2.03494046e+02] [-2.17327620e-01 9.76041340e-01 -1.05834032e-02 -4.10925035e+01] [-5.71364855e-02 -1.89668363e-03 9.98364575e-01 -1.36008401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.52, Y:-41.10, Z:-13.60 [[ 9.74413463e-01 2.17699139e-01 5.59060708e-02 2.03524222e+02] [-2.17345954e-01 9.76015922e-01 -1.23958318e-02 -4.10981369e+01] [-5.72637771e-02 -7.22929197e-05 9.98359081e-01 -1.36031550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-41.10, Z:-13.61 [[ 9.74873187e-01 2.16070863e-01 5.41816493e-02 2.03554947e+02] [-2.15619462e-01 9.76375478e-01 -1.41128793e-02 -4.11044937e+01] [-5.59510158e-02 2.07564950e-03 9.98431357e-01 -1.36057911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:-41.11, Z:-13.61 [[ 9.75242239e-01 2.14671680e-01 5.30909214e-02 2.03585537e+02] [-2.14200527e-01 9.76682405e-01 -1.44780151e-02 -4.11118611e+01] [-5.49609886e-02 2.74746854e-03 9.98484723e-01 -1.36081831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49264000000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:203.62, Y:-41.12, Z:-13.61 [[ 9.75669572e-01 2.13570736e-01 4.95623468e-02 2.03616802e+02] [-2.12942386e-01 9.76904580e-01 -1.76913066e-02 -4.11172260e+01] [-5.21960290e-02 6.70694512e-03 9.98614336e-01 -1.36086813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:-41.13, Z:-13.61 [[ 9.75807743e-01 2.12430422e-01 5.16968454e-02 2.03646587e+02] [-2.12123384e-01 9.77176179e-01 -1.14186275e-02 -4.11274677e+01] [-5.29425897e-02 1.76275367e-04 9.98597542e-01 -1.36121244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:203.68, Y:-41.14, Z:-13.61 [[ 9.75955769e-01 2.11912595e-01 5.10234120e-02 2.03676212e+02] [-2.11612459e-01 9.77288601e-01 -1.12764594e-02 -4.11358999e+01] [-5.22542227e-02 2.08135943e-04 9.98633793e-01 -1.36129070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264000000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:203.71, Y:-41.14, Z:-13.61 [[ 9.75871610e-01 2.12292765e-01 5.10527483e-02 2.03707983e+02] [-2.11992937e-01 9.77206093e-01 -1.12803768e-02 -4.11444220e+01] [-5.22837991e-02 1.85377413e-04 9.98632250e-01 -1.36146384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-41.15, Z:-13.62 [[ 9.75538190e-01 2.12998572e-01 5.43769140e-02 2.03738257e+02] [-2.12851329e-01 9.77047168e-01 -8.55238058e-03 -4.11541899e+01] [-5.49504546e-02 -3.23102451e-03 9.98483855e-01 -1.36192501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:-41.16, Z:-13.62 [[ 9.75489717e-01 2.13386402e-01 5.37220156e-02 2.03769684e+02] [-2.13116969e-01 9.76967420e-01 -1.07618931e-02 -4.11605649e+01] [-5.47811007e-02 -9.50957133e-04 9.98497935e-01 -1.36216226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-41.17, Z:-13.62 [[ 9.75481016e-01 2.14016960e-01 5.13179198e-02 2.03802113e+02] [-2.13455559e-01 9.76817687e-01 -1.62459253e-02 -4.11654636e+01] [-5.36051553e-02 4.89349646e-03 9.98550220e-01 -1.36238022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:-41.18, Z:-13.63 [[ 9.75413691e-01 2.13520812e-01 5.45618415e-02 2.03831762e+02] [-2.13424624e-01 9.76929568e-01 -7.65175917e-03 -4.11782605e+01] [-5.49368861e-02 -4.18120989e-03 9.98481074e-01 -1.36267081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-41.18, Z:-13.63 [[ 9.75355378e-01 2.14070837e-01 5.34374691e-02 2.03863681e+02] [-2.13665243e-01 9.76816966e-01 -1.32581543e-02 -4.11846438e+01] [-5.50368107e-02 1.51368229e-03 9.98483179e-01 -1.36297546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:-41.19, Z:-13.63 [[ 9.75382540e-01 2.13735021e-01 5.42792858e-02 2.03893889e+02] [-2.13450043e-01 9.76891349e-01 -1.10621906e-02 -4.11943137e+01] [-5.53893423e-02 -7.96048297e-04 9.98464515e-01 -1.36314695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:-41.20, Z:-13.63 [[ 9.75409183e-01 2.14020735e-01 5.26502610e-02 2.03924068e+02] [-2.13478477e-01 9.76820284e-01 -1.57820347e-02 -4.12003741e+01] [-5.48075256e-02 4.15424409e-03 9.98488296e-01 -1.36335875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264000000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:203.96, Y:-41.21, Z:-13.63 [[ 9.75461166e-01 2.13672892e-01 5.30981153e-02 2.03955689e+02] [-2.13347213e-01 9.76905248e-01 -1.17941753e-02 -4.12119430e+01] [-5.43919231e-02 1.76425075e-04 9.98519648e-01 -1.36339571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.99, Y:-41.22, Z:-13.64 [[ 9.75318345e-01 2.14016116e-01 5.43252113e-02 2.03987309e+02] [-2.13675034e-01 9.76830114e-01 -1.20792319e-02 -4.12205561e+01] [-5.56516527e-02 1.73155035e-04 9.98450231e-01 -1.36380489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:204.02, Y:-41.23, Z:-13.64 [[ 9.75253007e-01 2.14031347e-01 5.54270227e-02 2.04016928e+02] [-2.14106514e-01 9.76799260e-01 -4.64827782e-03 -4.12330258e+01] [-5.51359519e-02 -7.33403966e-03 9.98451921e-01 -1.36376427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:-41.23, Z:-13.64 [[ 9.75028202e-01 2.15953843e-01 5.18067875e-02 2.04050494e+02] [-2.15187749e-01 9.76367829e-01 -2.00023977e-02 -4.12330718e+01] [-5.49020752e-02 8.35471588e-03 9.98456790e-01 -1.36422637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-41.25, Z:-13.64 [[ 9.74800185e-01 2.16622084e-01 5.32867033e-02 2.04080710e+02] [-2.16296810e-01 9.76255536e-01 -1.18667080e-02 -4.12466360e+01] [-5.45920301e-02 4.19251993e-05 9.98508742e-01 -1.36444342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:-41.26, Z:-13.65 [[ 9.74498589e-01 2.18112563e-01 5.27201025e-02 2.04111272e+02] [-2.17795767e-01 9.75923618e-01 -1.17513956e-02 -4.12554898e+01] [-5.40139202e-02 -3.04967387e-05 9.98540182e-01 -1.36468825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-41.26, Z:-13.65 [[ 9.74103214e-01 2.19720440e-01 5.33465722e-02 2.04141958e+02] [-2.19551469e-01 9.75558663e-01 -9.07999914e-03 -4.12648648e+01] [-5.40377721e-02 -2.86746197e-03 9.98534775e-01 -1.36496280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-41.27, Z:-13.65 [[ 9.73445904e-01 2.23167310e-01 5.09845447e-02 2.04172597e+02] [-2.23075796e-01 9.74771855e-01 -7.55116613e-03 -4.12724536e+01] [-5.13834727e-02 -4.02276616e-03 9.98670895e-01 -1.36483856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-41.27, Z:-13.65 [[ 9.72951542e-01 2.25317013e-01 5.09660694e-02 2.04204742e+02] [-2.24689857e-01 9.74267886e-01 -1.77919671e-02 -4.12744686e+01] [-5.36634376e-02 5.85916301e-03 9.98541890e-01 -1.36541042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-41.29, Z:-13.66 [[ 9.72670105e-01 2.26203225e-01 5.23924407e-02 2.04235728e+02] [-2.25900086e-01 9.74080031e-01 -1.17151207e-02 -4.12857443e+01] [-5.36844284e-02 -4.40509142e-04 9.98557854e-01 -1.36560849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-41.29, Z:-13.66 [[ 9.72345129e-01 2.27347235e-01 5.34619930e-02 2.04266480e+02] [-2.27032679e-01 9.73813628e-01 -1.19658133e-02 -4.12929600e+01] [-5.47824120e-02 -5.02719212e-04 9.98498190e-01 -1.36585981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:-41.31, Z:-13.66 [[ 9.72488989e-01 2.26600933e-01 5.40109580e-02 2.04296483e+02] [-2.26834642e-01 9.73931540e-01 -1.84413879e-03 -4.13054626e+01] [-5.30208591e-02 -1.04581517e-02 9.98538640e-01 -1.36565494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:-41.31, Z:-13.66 [[ 9.72601423e-01 2.26796360e-01 5.10870223e-02 2.04329917e+02] [-2.26378353e-01 9.73940238e-01 -1.39016255e-02 -4.13062074e+01] [-5.29085447e-02 1.95574475e-03 9.98597447e-01 -1.36591868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:-41.31, Z:-13.67 [[ 9.72921221e-01 2.24826203e-01 5.36421058e-02 2.04362031e+02] [-2.24068616e-01 9.74371804e-01 -1.98202806e-02 -4.13105834e+01] [-5.67234739e-02 7.26405925e-03 9.98363501e-01 -1.36657412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:-41.32, Z:-13.67 [[ 9.73231897e-01 2.23003449e-01 5.55800042e-02 2.04393096e+02] [-2.22653804e-01 9.74817630e-01 -1.24848753e-02 -4.13220161e+01] [-5.69645382e-02 -2.24420468e-04 9.98376177e-01 -1.36676728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:-41.33, Z:-13.67 [[ 9.73547150e-01 2.21741072e-01 5.51075640e-02 2.04424446e+02] [-2.21394647e-01 9.75105573e-01 -1.23907979e-02 -4.13294688e+01] [-5.64832416e-02 -1.37493722e-04 9.98403538e-01 -1.36693314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-41.34, Z:-13.67 [[ 9.73884700e-01 2.20280643e-01 5.50002666e-02 2.04456525e+02] [-2.19932617e-01 9.75436536e-01 -1.23777090e-02 -4.13369222e+01] [-5.63758393e-02 -4.18911761e-05 9.98409617e-01 -1.36714828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-41.35, Z:-13.67 [[ 9.74292948e-01 2.18365623e-01 5.54049349e-02 2.04488664e+02] [-2.18008699e-01 9.75867024e-01 -1.24803591e-02 -4.13452849e+01] [-5.67931303e-02 8.07680776e-05 9.98385964e-01 -1.36742034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:-41.35, Z:-13.68 [[ 9.74526306e-01 2.17386281e-01 5.51514676e-02 2.04519221e+02] [-2.17030392e-01 9.76085643e-01 -1.24348884e-02 -4.13526214e+01] [-5.65357298e-02 1.48581253e-04 9.98400565e-01 -1.36765903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-41.36, Z:-13.68 [[ 9.74771952e-01 2.16297827e-01 5.50898565e-02 2.04550479e+02] [-2.15940388e-01 9.76327405e-01 -1.24317406e-02 -4.13602362e+01] [-5.64746950e-02 2.21987133e-04 9.98404006e-01 -1.36789486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-41.37, Z:-13.68 [[ 9.75592599e-01 2.12325005e-01 5.60104773e-02 2.04580170e+02] [-2.12464733e-01 9.77162406e-01 -3.51704844e-03 -4.13730611e+01] [-5.54780901e-02 -8.46904468e-03 9.98423986e-01 -1.36756876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-41.37, Z:-13.68 [[ 9.75957735e-01 2.10928246e-01 5.49160725e-02 2.04614320e+02] [-2.10048580e-01 9.77456905e-01 -2.13914451e-02 -4.13719472e+01] [-5.81901542e-02 9.34210329e-03 9.98261805e-01 -1.36837820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:-41.39, Z:-13.69 [[ 9.76529923e-01 2.07737632e-01 5.68716542e-02 2.04643936e+02] [-2.07340513e-01 9.78184280e-01 -1.28617764e-02 -4.13855214e+01] [-5.83028331e-02 7.68111594e-04 9.98298648e-01 -1.36862671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-41.40, Z:-13.68 [[ 9.77678329e-01 2.01693406e-01 5.88630137e-02 2.04671514e+02] [-2.02069967e-01 9.79370983e-01 4.54583399e-04 -4.14036657e+01] [-5.75570411e-02 -1.23388836e-02 9.98265966e-01 -1.36830481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-41.40, Z:-13.69 [[ 9.78058164e-01 2.00891854e-01 5.51787136e-02 2.04704510e+02] [-2.00351670e-01 9.79605973e-01 -1.52100815e-02 -4.14045365e+01] [-5.71089789e-02 3.82119696e-03 9.98360638e-01 -1.36858640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:-41.41, Z:-13.69 [[ 9.78324230e-01 1.99440402e-01 5.57245649e-02 2.04736097e+02] [-1.98435334e-01 9.79842235e-01 -2.30783952e-02 -4.14099794e+01] [-5.92040466e-02 1.15204306e-02 9.98179423e-01 -1.36930723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264000000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:204.77, Y:-41.43, Z:-13.69 [[ 9.78644396e-01 1.97384612e-01 5.73973872e-02 2.04766347e+02] [-1.97221054e-01 9.80321701e-01 -8.55682472e-03 -4.14286427e+01] [-5.79568897e-02 -2.94588464e-03 9.98314740e-01 -1.36904844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.80, Y:-41.44, Z:-13.69 [[ 9.78804807e-01 1.96309139e-01 5.83427024e-02 2.04795858e+02] [-1.96152776e-01 9.80536925e-01 -8.45142908e-03 -4.14415557e+01] [-5.88662668e-02 -3.17178364e-03 9.98260839e-01 -1.36929648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:-41.45, Z:-13.70 [[ 9.78683150e-01 1.97452037e-01 5.64976632e-02 2.04827619e+02] [-1.96675409e-01 9.80283637e-01 -1.90466654e-02 -4.14456982e+01] [-5.91445376e-02 7.52894950e-03 9.98221037e-01 -1.37001946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-41.46, Z:-13.70 [[ 9.78486816e-01 1.98188431e-01 5.73140115e-02 2.04856045e+02] [-1.97786699e-01 9.80163378e-01 -1.26559858e-02 -4.14595374e+01] [-5.86853651e-02 1.04776617e-03 9.98275979e-01 -1.37024831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-41.47, Z:-13.71 [[ 9.77801620e-01 2.02383212e-01 5.42680971e-02 2.04887505e+02] [-2.01822325e-01 9.79296607e-01 -1.56813531e-02 -4.14713199e+01] [-5.63182060e-02 4.38073895e-03 9.98403260e-01 -1.37051445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:204.92, Y:-41.49, Z:-13.71 [[ 9.77254552e-01 2.04527861e-01 5.60525986e-02 2.04917261e+02] [-2.04413720e-01 9.78853320e-01 -7.82366750e-03 -4.14850950e+01] [-5.64674302e-02 -3.81220554e-03 9.98397164e-01 -1.37059828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:-41.49, Z:-13.71 [[ 9.76492762e-01 2.09077156e-01 5.24273623e-02 2.04947961e+02] [-2.08456262e-01 9.77882100e-01 -1.71051412e-02 -4.14896748e+01] [-5.48440734e-02 5.77423456e-03 9.98478235e-01 -1.37097447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81264000000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:204.98, Y:-41.50, Z:-13.71 [[ 9.75612092e-01 2.12834152e-01 5.36904936e-02 2.04978664e+02] [-2.12483464e-01 9.77088203e-01 -1.22237999e-02 -4.15025009e+01] [-5.50619900e-02 5.17344948e-04 9.98482804e-01 -1.37100017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:-41.52, Z:-13.71 [[ 9.73332862e-01 2.22623449e-01 5.53348032e-02 2.05008785e+02] [-2.22266012e-01 9.74904508e-01 -1.26103286e-02 -4.15153800e+01] [-5.67535039e-02 -2.49988385e-05 9.98388221e-01 -1.37124310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-41.53, Z:-13.71 [[ 9.71960820e-01 2.27951874e-01 5.77070919e-02 2.05039520e+02] [-2.27755224e-01 9.73666552e-01 -1.00500701e-02 -4.15258345e+01] [-5.84783975e-02 -3.37481727e-03 9.98282970e-01 -1.37146474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-41.53, Z:-13.72 [[ 9.70648281e-01 2.33672406e-01 5.69132789e-02 2.05071059e+02] [-2.33234347e-01 9.72315186e-01 -1.43149487e-02 -4.15316431e+01] [-5.86826539e-02 6.20648913e-04 9.98276495e-01 -1.37171887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:-41.54, Z:-13.72 [[ 9.68008822e-01 2.44615985e-01 5.58743205e-02 2.05101477e+02] [-2.44183512e-01 9.69619940e-01 -1.45459127e-02 -4.15392448e+01] [-5.77350181e-02 4.36983953e-04 9.98331847e-01 -1.37196431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-41.55, Z:-13.72 [[ 9.66708822e-01 2.49706778e-01 5.58621450e-02 2.05132860e+02] [-2.49385777e-01 9.68320180e-01 -1.27578706e-02 -4.15474155e+01] [-5.72781690e-02 -1.59807830e-03 9.98356979e-01 -1.37224058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:205.16, Y:-41.56, Z:-13.72 [[ 9.65505059e-01 2.53885595e-01 5.78107677e-02 2.05163410e+02] [-2.53834678e-01 9.67211620e-01 -8.34502459e-03 -4.15567146e+01] [-5.80339278e-02 -6.61721412e-03 9.98292680e-01 -1.37237146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:-41.56, Z:-13.73 [[ 9.63416814e-01 2.62255356e-01 5.52283482e-02 2.05196018e+02] [-2.61681158e-01 9.64995478e-01 -1.75128459e-02 -4.15571108e+01] [-5.78879439e-02 2.41995211e-03 9.98320154e-01 -1.37271809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:-41.57, Z:-13.73 [[ 9.62552161e-01 2.65133596e-01 5.65465659e-02 2.05226768e+02] [-2.64829683e-01 9.64208391e-01 -1.29389727e-02 -4.15652963e+01] [-5.79532297e-02 -2.52077300e-03 9.98316117e-01 -1.37292739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:-41.57, Z:-13.73 [[ 9.61901523e-01 2.67511169e-01 5.64201631e-02 2.05259002e+02] [-2.67212108e-01 9.63551120e-01 -1.29200874e-02 -4.15708028e+01] [-5.78199791e-02 -2.64829893e-03 9.98323513e-01 -1.37316030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:-41.58, Z:-13.73 [[ 9.61496797e-01 2.68985266e-01 5.63101826e-02 2.05290984e+02] [-2.68689254e-01 9.63140448e-01 -1.29058821e-02 -4.15758796e+01] [-5.77061066e-02 -2.72097662e-03 9.98329906e-01 -1.37336829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:-41.58, Z:-13.74 [[ 9.61198492e-01 2.69880225e-01 5.71149928e-02 2.05323696e+02] [-2.69576644e-01 9.62889817e-01 -1.31008867e-02 -4.15782644e+01] [-5.85311152e-02 -2.80431551e-03 9.98281646e-01 -1.37363267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-41.58, Z:-13.74 [[ 9.61346840e-01 2.69232561e-01 5.76721930e-02 2.05355061e+02] [-2.68921278e-01 9.63071174e-01 -1.32385676e-02 -4.15827373e+01] [-5.91066801e-02 -2.78242470e-03 9.98247794e-01 -1.37390342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:-41.59, Z:-13.74 [[ 9.62418270e-01 2.65056803e-01 5.91266813e-02 2.05388191e+02] [-2.64807035e-01 9.64224705e-01 -1.21635329e-02 -4.15853636e+01] [-6.02354340e-02 -3.95075486e-03 9.98176379e-01 -1.37414238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-41.59, Z:-13.74 [[ 9.63033410e-01 2.62661336e-01 5.97969412e-02 2.05418788e+02] [-2.62434379e-01 9.64878197e-01 -1.17584875e-02 -4.15898618e+01] [-6.07852649e-02 -4.36895683e-03 9.98141305e-01 -1.37440371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:-41.59, Z:-13.75 [[ 9.63777506e-01 2.60436593e-01 5.74952109e-02 2.05451339e+02] [-2.59900841e-01 9.65490221e-01 -1.67387712e-02 -4.15919496e+01] [-5.98704524e-02 1.18939752e-03 9.98205447e-01 -1.37463774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:-41.60, Z:-13.75 [[ 9.63772179e-01 2.60285905e-01 5.82617731e-02 2.05483461e+02] [-2.59949692e-01 9.65529035e-01 -1.34104747e-02 -4.16014520e+01] [-5.97439911e-02 -2.22048756e-03 9.98211263e-01 -1.37485239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:-41.61, Z:-13.75 [[ 9.64668453e-01 2.56921114e-01 5.83636650e-02 2.05514703e+02] [-2.56629139e-01 9.66428177e-01 -1.25723517e-02 -4.16063987e+01] [-5.96343930e-02 -2.84966611e-03 9.98216218e-01 -1.37507024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:-41.61, Z:-13.75 [[ 9.66772811e-01 2.47868399e-01 6.25426937e-02 2.05546101e+02] [-2.48042687e-01 9.68735756e-01 -5.08540352e-03 -4.16131697e+01] [-6.18478545e-02 -1.05968279e-02 9.98029333e-01 -1.37548037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:205.58, Y:-41.61, Z:-13.76 [[ 9.67939476e-01 2.44447582e-01 5.77801979e-02 2.05578548e+02] [-2.43686271e-01 9.69648232e-01 -1.99826948e-02 -4.16096556e+01] [-6.09111881e-02 5.26179812e-03 9.98129321e-01 -1.37561050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:205.61, Y:-41.62, Z:-13.76 [[ 9.69216885e-01 2.38927350e-01 5.94335818e-02 2.05608880e+02] [-2.38547136e-01 9.71036849e-01 -1.35167370e-02 -4.16187137e+01] [-6.09417162e-02 -1.07706107e-03 9.98140745e-01 -1.37584423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:-41.62, Z:-13.76 [[ 9.70360649e-01 2.34534348e-01 5.82567614e-02 2.05640819e+02] [-2.33964298e-01 9.72104877e-01 -1.65171497e-02 -4.16234449e+01] [-6.05055208e-02 2.39758984e-03 9.98164983e-01 -1.37611409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:-41.63, Z:-13.76 [[ 9.72379928e-01 2.25789492e-01 5.91302019e-02 2.05671243e+02] [-2.25392281e-01 9.74176068e-01 -1.33906093e-02 -4.16319332e+01] [-6.06266865e-02 -3.06731373e-04 9.98160463e-01 -1.37632124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:-41.64, Z:-13.77 [[ 9.73189791e-01 2.21539106e-01 6.18227754e-02 2.05702151e+02] [-2.21451745e-01 9.75135599e-01 -8.34791317e-03 -4.16423239e+01] [-6.21349783e-02 -5.56665764e-03 9.98052231e-01 -1.37661733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:-41.65, Z:-13.77 [[ 9.73962001e-01 2.18817882e-01 5.93022423e-02 2.05733996e+02] [-2.18305975e-01 9.75764203e-01 -1.50572977e-02 -4.16453569e+01] [-6.11598111e-02 1.71920191e-03 9.98126506e-01 -1.37682542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:-41.65, Z:-13.77 [[ 9.75249478e-01 2.13721736e-01 5.66698843e-02 2.05766131e+02] [-2.12977944e-01 9.76873695e-01 -1.89256331e-02 -4.16505236e+01] [-5.94041384e-02 6.38777837e-03 9.98213577e-01 -1.37702593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:-41.66, Z:-13.77 [[ 9.75615643e-01 2.11541565e-01 5.85173829e-02 2.05796524e+02] [-2.11109099e-01 9.77368621e-01 -1.35472406e-02 -4.16620686e+01] [-6.00588583e-02 8.63347841e-04 9.98194464e-01 -1.37727013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:-41.67, Z:-13.77 [[ 9.75941163e-01 2.09965600e-01 5.87647288e-02 2.05827055e+02] [-2.09525924e-01 9.77708287e-01 -1.36158619e-02 -4.16703687e+01] [-6.03136249e-02 9.75545958e-04 9.98178999e-01 -1.37745156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:-41.68, Z:-13.78 [[ 9.76184492e-01 2.08810767e-01 5.88379301e-02 2.05858896e+02] [-2.08367243e-01 9.77955491e-01 -1.36436631e-02 -4.16794849e+01] [-6.03898205e-02 1.05883511e-03 9.98174308e-01 -1.37772581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:-41.69, Z:-13.78 [[ 9.76534893e-01 2.07122424e-01 5.89907178e-02 2.05890271e+02] [-2.06672795e-01 9.78314323e-01 -1.36909454e-02 -4.16906625e+01] [-6.05471659e-02 1.17790935e-03 9.98164642e-01 -1.37797509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:205.92, Y:-41.70, Z:-13.78 [[ 9.76564287e-01 2.07092280e-01 5.86087135e-02 2.05921432e+02] [-2.06647685e-01 9.78320697e-01 -1.36142740e-02 -4.17001746e+01] [-6.01575285e-02 1.18385887e-03 9.98188194e-01 -1.37797768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.95, Y:-41.71, Z:-13.78 [[ 9.76451656e-01 2.07577584e-01 5.87682795e-02 2.05952830e+02] [-2.07130764e-01 9.78217860e-01 -1.36625093e-02 -4.17094366e+01] [-6.03242113e-02 1.16806119e-03 9.98178153e-01 -1.37825238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:-41.72, Z:-13.79 [[ 9.76108034e-01 2.08542973e-01 6.10158555e-02 2.05980678e+02] [-2.08325749e-01 9.78008670e-01 -9.97115653e-03 -4.17204176e+01] [-6.17534503e-02 -2.97824778e-03 9.98086991e-01 -1.37869116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264000000003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:206.01, Y:-41.73, Z:-13.79 [[ 9.75837976e-01 2.10888269e-01 5.71522730e-02 2.06013997e+02] [-2.10227095e-01 9.77497503e-01 -1.74126583e-02 -4.17278525e+01] [-5.95383295e-02 4.97697687e-03 9.98213613e-01 -1.37881848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-41.74, Z:-13.79 [[ 9.75279488e-01 2.12074749e-01 6.20823661e-02 2.06041999e+02] [-2.11993948e-01 9.77238548e-01 -7.96153673e-03 -4.17427083e+01] [-6.23577222e-02 -5.39636242e-03 9.98039275e-01 -1.37925426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:-41.75, Z:-13.80 [[ 9.74634622e-01 2.16484808e-01 5.67598627e-02 2.06074626e+02] [-2.15701043e-01 9.76261454e-01 -1.96629897e-02 -4.17474318e+01] [-5.96692047e-02 6.92106894e-03 9.98194212e-01 -1.37955487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-41.76, Z:-13.80 [[ 9.74193643e-01 2.18098815e-01 5.81347803e-02 2.06104905e+02] [-2.17676916e-01 9.75926527e-01 -1.35710694e-02 -4.17606628e+01] [-5.96951084e-02 5.66249849e-04 9.98216496e-01 -1.37974091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-41.77, Z:-13.80 [[ 9.73301792e-01 2.22087886e-01 5.79706137e-02 2.06134830e+02] [-2.21674734e-01 9.75026595e-01 -1.35444384e-02 -4.17713559e+01] [-5.95309458e-02 3.32205859e-04 9.98226405e-01 -1.38004758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:-41.79, Z:-13.80 [[ 9.72463812e-01 2.23369672e-01 6.64840186e-02 2.06161163e+02] [-2.24069170e-01 9.74568115e-01 3.16164600e-03 -4.17897419e+01] [-6.40869888e-02 -1.79716052e-02 9.97782481e-01 -1.38035822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:-41.78, Z:-13.81 [[ 9.72214520e-01 2.27536568e-01 5.50094282e-02 2.06197682e+02] [-2.26142146e-01 9.73618244e-01 -3.04507057e-02 -4.17784354e+01] [-6.04868320e-02 1.71646681e-02 9.98021401e-01 -1.38066068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:-41.80, Z:-13.81 [[ 9.71669639e-01 2.28657950e-01 5.97800434e-02 2.06226961e+02] [-2.28228784e-01 9.73506826e-01 -1.40029182e-02 -4.17962838e+01] [-6.13981589e-02 -3.73161267e-05 9.98113353e-01 -1.38078766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:-41.81, Z:-13.80 [[ 9.70698062e-01 2.32523773e-01 6.06462510e-02 2.06256604e+02] [-2.32591345e-01 9.72555793e-01 -6.04118608e-03 -4.18109435e+01] [-6.03865821e-02 -8.24162546e-03 9.98141040e-01 -1.38045453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-41.81, Z:-13.81 [[ 9.70007982e-01 2.35760517e-01 5.91734225e-02 2.06288496e+02] [-2.34912428e-01 9.71789643e-01 -2.10009561e-02 -4.18110149e+01] [-6.24553154e-02 6.47052271e-03 9.98026786e-01 -1.38125174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-41.83, Z:-13.81 [[ 9.69621005e-01 2.36820431e-01 6.12469637e-02 2.06319306e+02] [-2.36852170e-01 9.71521578e-01 -6.84637918e-03 -4.18279736e+01] [-6.11241093e-02 -7.86808318e-03 9.98099162e-01 -1.38097194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-41.83, Z:-13.81 [[ 9.68954614e-01 2.40133862e-01 5.88445808e-02 2.06350116e+02] [-2.39800329e-01 9.70738231e-01 -1.27706650e-02 -4.18321269e+01] [-6.01893534e-02 -1.73675506e-03 9.98185466e-01 -1.38115260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-41.83, Z:-13.82 [[ 9.68567456e-01 2.42077054e-01 5.72344546e-02 2.06381432e+02] [-2.41070231e-01 9.70211117e-01 -2.39902561e-02 -4.18326964e+01] [-6.13369947e-02 9.43865812e-03 9.98072485e-01 -1.38200576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:-41.85, Z:-13.82 [[ 9.68376520e-01 2.42292716e-01 5.95076130e-02 2.06412351e+02] [-2.41889001e-01 9.70202839e-01 -1.40058170e-02 -4.18458550e+01] [-6.11279625e-02 -8.31332685e-04 9.98129591e-01 -1.38219897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-41.85, Z:-13.82 [[ 9.68202687e-01 2.43024271e-01 5.93528537e-02 2.06444129e+02] [-2.42623297e-01 9.70019824e-01 -1.39813282e-02 -4.18529629e+01] [-6.09712468e-02 -8.63625508e-04 9.98139149e-01 -1.38246593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:-41.86, Z:-13.83 [[ 9.67996647e-01 2.44000433e-01 5.87050281e-02 2.06474717e+02] [-2.43609232e-01 9.69774702e-01 -1.38408543e-02 -4.18607108e+01] [-6.03078255e-02 -9.03186224e-04 9.98179418e-01 -1.38270899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:-41.87, Z:-13.83 [[ 9.67956979e-01 2.44084291e-01 5.90097071e-02 2.06505493e+02] [-2.43762676e-01 9.69751764e-01 -1.26994060e-02 -4.18691440e+01] [-6.03244931e-02 -2.09188540e-03 9.98176627e-01 -1.38299481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-41.88, Z:-13.83 [[ 9.68169559e-01 2.43493087e-01 5.79553360e-02 2.06536596e+02] [-2.43041013e-01 9.69902593e-01 -1.48332562e-02 -4.18752144e+01] [-5.98228260e-02 2.75583496e-04 9.98208973e-01 -1.38323140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:-41.88, Z:-13.83 [[ 9.68378138e-01 2.42579976e-01 5.82986818e-02 2.06568801e+02] [-2.42190032e-01 9.70131095e-01 -1.37712426e-02 -4.18836233e+01] [-5.98979917e-02 -7.83589346e-04 9.98204196e-01 -1.38344324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-41.89, Z:-13.84 [[ 9.69203251e-01 2.38960540e-01 5.95224284e-02 2.06601077e+02] [-2.38546469e-01 9.71029118e-01 -1.40724840e-02 -4.18923168e+01] [-6.11607795e-02 -5.59767887e-04 9.98127770e-01 -1.38367662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-41.90, Z:-13.84 [[ 9.69767987e-01 2.36501684e-01 6.01415474e-02 2.06632064e+02] [-2.36335583e-01 9.71620416e-01 -9.96285991e-03 -4.19038067e+01] [-6.07909885e-02 -4.55192511e-03 9.98140138e-01 -1.38371113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-41.91, Z:-13.84 [[ 9.70334633e-01 2.34402938e-01 5.92111762e-02 2.06662862e+02] [-2.33718924e-01 9.72131542e-01 -1.83229329e-02 -4.19071508e+01] [-6.18560013e-02 3.94060395e-03 9.98077305e-01 -1.38414868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-41.92, Z:-13.84 [[ 9.71519200e-01 2.29323351e-01 5.96761582e-02 2.06693460e+02] [-2.28887201e-01 9.73350294e-01 -1.41369769e-02 -4.19192097e+01] [-6.13277451e-02 7.52356901e-05 9.98117679e-01 -1.38439765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.72, Y:-41.93, Z:-13.85 [[ 9.72022786e-01 2.27329872e-01 5.91001990e-02 2.06724895e+02] [-2.26897706e-01 9.73817788e-01 -1.40123549e-02 -4.19286721e+01] [-6.07382519e-02 2.10628714e-04 9.98153706e-01 -1.38451856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:-41.94, Z:-13.85 [[ 9.72255203e-01 2.26229293e-01 5.94989665e-02 2.06755674e+02] [-2.25788447e-01 9.74074033e-01 -1.41193671e-02 -4.19393097e+01] [-6.11506126e-02 2.93448902e-04 9.98128507e-01 -1.38490888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:-41.95, Z:-13.85 [[ 9.72506029e-01 2.25240531e-01 5.91500438e-02 2.06786698e+02] [-2.24802265e-01 9.74303120e-01 -1.40489115e-02 -4.19488187e+01] [-6.07944565e-02 3.65587362e-04 9.98150239e-01 -1.38512449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:206.82, Y:-41.96, Z:-13.85 [[ 9.72664709e-01 2.24768114e-01 5.83323164e-02 2.06818317e+02] [-2.24340382e-01 9.74412199e-01 -1.38657310e-02 -4.19584366e+01] [-5.99562950e-02 4.00413058e-04 9.98200923e-01 -1.38522270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:206.85, Y:-41.97, Z:-13.85 [[ 9.72461652e-01 2.25661561e-01 5.82682993e-02 2.06850020e+02] [-2.25235671e-01 9.74205693e-01 -1.38621576e-02 -4.19674780e+01] [-5.98934651e-02 3.56317231e-04 9.98204711e-01 -1.38541299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:-41.98, Z:-13.86 [[ 9.71980009e-01 2.27462020e-01 5.92949589e-02 2.06880737e+02] [-2.27023546e-01 9.73786917e-01 -1.41190998e-02 -4.19768984e+01] [-6.09522142e-02 2.62130957e-04 9.98140651e-01 -1.38579624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:-41.99, Z:-13.86 [[ 9.70898848e-01 2.31425409e-01 6.16255355e-02 2.06910852e+02] [-2.31430689e-01 9.72825115e-01 -7.15062613e-03 -4.19908786e+01] [-6.16057052e-02 -7.31950545e-03 9.98073726e-01 -1.38584535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:-41.99, Z:-13.86 [[ 9.70174366e-01 2.35354103e-01 5.80529565e-02 2.06942488e+02] [-2.34482085e-01 9.71882685e-01 -2.14988170e-02 -4.19906512e+01] [-6.14804980e-02 7.24522284e-03 9.98081988e-01 -1.38634616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-42.00, Z:-13.86 [[ 9.69435777e-01 2.37947648e-01 5.97929028e-02 2.06972934e+02] [-2.37519974e-01 9.71277909e-01 -1.42647956e-02 -4.20032503e+01] [-6.14698002e-02 -3.73205548e-04 9.98108874e-01 -1.38647922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:-42.01, Z:-13.87 [[ 9.68613383e-01 2.41160808e-01 6.02459927e-02 2.07005289e+02] [-2.40732064e-01 9.70485003e-01 -1.43851634e-02 -4.20113649e+01] [-6.19369700e-02 -5.69480398e-04 9.98079900e-01 -1.38673610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:-42.02, Z:-13.87 [[ 9.67163986e-01 2.46911677e-01 6.02366090e-02 2.07036686e+02] [-2.46493425e-01 9.69037547e-01 -1.43952759e-02 -4.20188310e+01] [-6.19258975e-02 -9.25335630e-04 9.98080321e-01 -1.38698753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:-42.03, Z:-13.87 [[ 9.66588245e-01 2.49261710e-01 5.97977020e-02 2.07069194e+02] [-2.48853345e-01 9.68435585e-01 -1.43014203e-02 -4.20262380e+01] [-6.14750190e-02 -1.05727346e-03 9.98108062e-01 -1.38720109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:-42.03, Z:-13.87 [[ 9.66077576e-01 2.51400307e-01 5.90931625e-02 2.07100231e+02] [-2.51004770e-01 9.67882494e-01 -1.41450708e-02 -4.20329343e+01] [-6.07513127e-02 -1.16742996e-03 9.98152250e-01 -1.38740064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:-42.04, Z:-13.88 [[ 9.65248786e-01 2.54652714e-01 5.87092479e-02 2.07133011e+02] [-2.54267630e-01 9.67031626e-01 -1.40643375e-02 -4.20388042e+01] [-6.03552212e-02 -1.35227662e-03 9.98176046e-01 -1.38773884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-42.05, Z:-13.88 [[ 9.64913221e-01 2.55900537e-01 5.87995867e-02 2.07165575e+02] [-2.55515875e-01 9.66702072e-01 -1.40976039e-02 -4.20461656e+01] [-6.04492667e-02 -1.42126350e-03 9.98170259e-01 -1.38795622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.20, Y:-42.05, Z:-13.88 [[ 9.64741853e-01 2.56605546e-01 5.85384505e-02 2.07197996e+02] [-2.56224894e-01 9.66515131e-01 -1.40465551e-02 -4.20528464e+01] [-6.01827220e-02 -1.44770871e-03 9.98186327e-01 -1.38810283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-42.06, Z:-13.88 [[ 9.64488204e-01 2.57354706e-01 5.94227249e-02 2.07229931e+02] [-2.56963117e-01 9.66315834e-01 -1.42711759e-02 -4.20584256e+01] [-6.10938742e-02 -1.50506776e-03 9.98130890e-01 -1.38839766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:-42.07, Z:-13.89 [[ 9.64463834e-01 2.57291335e-01 6.00889425e-02 2.07262744e+02] [-2.56890080e-01 9.66332706e-01 -1.44426060e-02 -4.20650307e+01] [-6.17818678e-02 -1.50688205e-03 9.98088538e-01 -1.38856693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:-42.07, Z:-13.89 [[ 9.64493851e-01 2.57054403e-01 6.06188590e-02 2.07294227e+02] [-2.56644778e-01 9.66395781e-01 -1.45826036e-02 -4.20709802e+01] [-6.23303320e-02 -1.49268211e-03 9.98054458e-01 -1.38877298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-42.08, Z:-13.89 [[ 9.64992707e-01 2.55314044e-01 6.00317784e-02 2.07327223e+02] [-2.54908260e-01 9.66857229e-01 -1.44526256e-02 -4.20760215e+01] [-6.17321172e-02 -1.35591787e-03 9.98091833e-01 -1.38902055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:-42.09, Z:-13.89 [[ 9.65498935e-01 2.53298782e-01 6.04279160e-02 2.07357043e+02] [-2.53560322e-01 9.67313504e-01 -3.42740941e-03 -4.20878170e+01] [-5.93208978e-02 -1.20129617e-02 9.98166679e-01 -1.38859736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-42.08, Z:-13.90 [[ 9.65665560e-01 2.53291285e-01 5.77369079e-02 2.07391368e+02] [-2.52235370e-01 9.67342475e-01 -2.50170732e-02 -4.20829145e+01] [-6.21879700e-02 9.59483570e-03 9.98018334e-01 -1.38962929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.42, Y:-42.09, Z:-13.90 [[ 9.66716664e-01 2.48788352e-01 5.96929484e-02 2.07421832e+02] [-2.48373010e-01 9.68557450e-01 -1.43984096e-02 -4.20934302e+01] [-6.13982064e-02 -9.06934760e-04 9.98112938e-01 -1.38965216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-42.10, Z:-13.90 [[ 9.67067248e-01 2.47339943e-01 6.00324120e-02 2.07454157e+02] [-2.46916389e-01 9.68928428e-01 -1.44913147e-02 -4.21008117e+01] [-6.17513915e-02 -8.08910631e-04 9.98091234e-01 -1.38994766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:-42.11, Z:-13.90 [[ 9.67046888e-01 2.47420247e-01 6.00294755e-02 2.07486607e+02] [-2.46996094e-01 9.68907931e-01 -1.45034684e-02 -4.21087905e+01] [-6.17514866e-02 -8.01511967e-04 9.98091234e-01 -1.39018520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:207.52, Y:-42.12, Z:-13.90 [[ 9.67586709e-01 2.45313148e-01 5.99784933e-02 2.07518781e+02] [-2.44885413e-01 9.69443666e-01 -1.44953109e-02 -4.21151826e+01] [-6.17016607e-02 -6.62387929e-04 9.98094418e-01 -1.39033680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-42.12, Z:-13.91 [[ 9.68320756e-01 2.42180440e-01 6.08567842e-02 2.07549913e+02] [-2.41733081e-01 9.70231120e-01 -1.47204590e-02 -4.21219066e+01] [-6.26101531e-02 -4.56971945e-04 9.98037955e-01 -1.39056116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:-42.13, Z:-13.91 [[ 9.68689792e-01 2.40833981e-01 6.03247928e-02 2.07582205e+02] [-2.40391099e-01 9.70566261e-01 -1.46031600e-02 -4.21292080e+01] [-6.20661457e-02 -3.55611234e-04 9.98071975e-01 -1.39077745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:-42.14, Z:-13.91 [[ 9.69012346e-01 2.39600135e-01 6.00570467e-02 2.07613168e+02] [-2.39158043e-01 9.70871622e-01 -1.45507554e-02 -4.21365014e+01] [-6.17940452e-02 -2.63264139e-04 9.98088887e-01 -1.39103363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:-42.14, Z:-13.91 [[ 9.69332414e-01 2.38440389e-01 5.95050667e-02 2.07643965e+02] [-2.38003511e-01 9.71157119e-01 -1.44283993e-02 -4.21438925e+01] [-6.12290822e-02 -1.76499725e-04 9.98123724e-01 -1.39125369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.68, Y:-42.15, Z:-13.92 [[ 9.69881655e-01 2.36299667e-01 5.90935107e-02 2.07675847e+02] [-2.35864120e-01 9.71680229e-01 -1.43405162e-02 -4.21508961e+01] [-6.08086552e-02 -2.94353048e-05 9.98149441e-01 -1.39150571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:-42.16, Z:-13.92 [[ 9.70006500e-01 2.35772024e-01 5.91518537e-02 2.07708236e+02] [-2.35334382e-01 9.71808393e-01 -1.43588302e-02 -4.21589332e+01] [-6.08696783e-02 7.69371102e-06 9.98145722e-01 -1.39178363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:-42.17, Z:-13.92 [[ 9.70191807e-01 2.34972510e-01 5.92939888e-02 2.07739417e+02] [-2.34530502e-01 9.72002014e-01 -1.44058664e-02 -4.21664207e+01] [-6.10188591e-02 7.02046059e-05 9.98136611e-01 -1.39199895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:-42.17, Z:-13.92 [[ 9.70339940e-01 2.34318522e-01 5.94578123e-02 2.07771579e+02] [-2.33872135e-01 9.72159871e-01 -1.44571599e-02 -4.21745667e+01] [-6.11900795e-02 1.22834220e-04 9.98126124e-01 -1.39220658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:-42.18, Z:-13.92 [[ 9.70694819e-01 2.32704516e-01 6.00014763e-02 2.07802801e+02] [-2.32246064e-01 9.72547455e-01 -1.46018576e-02 -4.21830904e+01] [-6.17522013e-02 2.38840738e-04 9.98091483e-01 -1.39244300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:-42.19, Z:-13.93 [[ 9.70889657e-01 2.31917051e-01 5.98978690e-02 2.07834605e+02] [-2.31457995e-01 9.72735520e-01 -1.45878354e-02 -4.21918009e+01] [-6.16479525e-02 2.99337811e-04 9.98097911e-01 -1.39265120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-42.20, Z:-13.93 [[ 9.71337818e-01 2.30248680e-01 5.90625816e-02 2.07866156e+02] [-2.29798524e-01 9.73131736e-01 -1.43966062e-02 -4.22016843e+01] [-6.07904721e-02 4.11473955e-04 9.98150464e-01 -1.39290194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:-42.21, Z:-13.93 [[ 9.71540348e-01 2.29485088e-01 5.87021835e-02 2.07897124e+02] [-2.29038265e-01 9.73312064e-01 -1.43212601e-02 -4.22101303e+01] [-6.04220591e-02 4.68635797e-04 9.98172808e-01 -1.39312288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:-42.22, Z:-13.93 [[ 9.71722138e-01 2.28822279e-01 5.82790793e-02 2.07928855e+02] [-2.28380012e-01 9.73468077e-01 -1.42293120e-02 -4.22187858e+01] [-5.99888069e-02 5.17160677e-04 9.98198916e-01 -1.39336555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:-42.23, Z:-13.94 [[ 9.71867408e-01 2.28228691e-01 5.81842370e-02 2.07959168e+02] [-2.27786058e-01 9.73607388e-01 -1.42185116e-02 -4.22271381e+01] [-5.98936753e-02 5.64950045e-04 9.98204603e-01 -1.39363815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:-42.24, Z:-13.94 [[ 9.72154728e-01 2.27093245e-01 5.78259734e-02 2.07990506e+02] [-2.26653380e-01 9.73872808e-01 -1.41421177e-02 -4.22382457e+01] [-5.95267225e-02 6.41874267e-04 9.98226506e-01 -1.39387481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:-42.25, Z:-13.94 [[ 9.72279894e-01 2.26563594e-01 5.77991791e-02 2.08022077e+02] [-2.26122492e-01 9.73996133e-01 -1.41474596e-02 -4.22485696e+01] [-5.95014763e-02 6.85596123e-04 9.98227982e-01 -1.39409247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:-42.26, Z:-13.94 [[ 9.72351358e-01 2.26257120e-01 5.77975099e-02 2.08053295e+02] [-2.25814790e-01 9.74067350e-01 -1.41590075e-02 -4.22588907e+01] [-5.95022436e-02 7.15997598e-04 9.98227915e-01 -1.39429897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:-42.27, Z:-13.95 [[ 9.72442084e-01 2.25941120e-01 5.75065559e-02 2.08083635e+02] [-2.25501951e-01 9.74140676e-01 -1.41001134e-02 -4.22685290e+01] [-5.92052707e-02 7.43703105e-04 9.98245552e-01 -1.39450410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:-42.28, Z:-13.94 [[ 9.72466505e-01 2.25728330e-01 5.79276906e-02 2.08113708e+02] [-2.25610754e-01 9.74179146e-01 -8.64751417e-03 -4.22819740e+01] [-5.83839371e-02 -4.65969208e-03 9.98283328e-01 -1.39440099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-42.29, Z:-13.95 [[ 9.72238464e-01 2.27008265e-01 5.67416686e-02 2.08145796e+02] [-2.26534987e-01 9.73891736e-01 -1.47236683e-02 -4.22879848e+01] [-5.86026365e-02 1.46094347e-03 9.98280320e-01 -1.39468091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-42.30, Z:-13.95 [[ 9.71907584e-01 2.28390313e-01 5.68639818e-02 2.08177026e+02] [-2.27955522e-01 9.73569364e-01 -1.41057802e-02 -4.22974418e+01] [-5.85826542e-02 7.47056116e-04 9.98282282e-01 -1.39489622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:-42.30, Z:-13.95 [[ 9.70998423e-01 2.32127836e-01 5.72601963e-02 2.08207757e+02] [-2.31418278e-01 9.72672325e-01 -1.88182816e-02 -4.23047300e+01] [-6.00636553e-02 5.02146574e-03 9.98181918e-01 -1.39538727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-42.32, Z:-13.95 [[ 9.70435595e-01 2.34138255e-01 5.86006200e-02 2.08238465e+02] [-2.33936733e-01 9.72196487e-01 -1.03728758e-02 -4.23192222e+01] [-5.94000039e-02 -3.64262961e-03 9.98227615e-01 -1.39528101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-42.32, Z:-13.96 [[ 9.69794009e-01 2.36977733e-01 5.78025514e-02 2.08269984e+02] [-2.36302681e-01 9.71506292e-01 -1.83458079e-02 -4.23235001e+01] [-6.05030903e-02 4.13275675e-03 9.98159454e-01 -1.39583535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-42.33, Z:-13.96 [[ 9.69206601e-01 2.39102597e-01 5.88940811e-02 2.08300921e+02] [-2.38662090e-01 9.70994309e-01 -1.45071910e-02 -4.23346124e+01] [-6.06545246e-02 4.68077322e-06 9.98158819e-01 -1.39598290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-42.34, Z:-13.96 [[ 9.68135434e-01 2.43268696e-01 5.94484944e-02 2.08330850e+02] [-2.42826918e-01 9.69958907e-01 -1.46562892e-02 -4.23445774e+01] [-6.12280130e-02 -2.46421798e-04 9.98123775e-01 -1.39623498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-42.35, Z:-13.96 [[ 9.67702162e-01 2.44921947e-01 5.97140380e-02 2.08361465e+02] [-2.44478637e-01 9.69542739e-01 -1.47333781e-02 -4.23539555e+01] [-6.15038396e-02 -3.41284744e-04 9.98106789e-01 -1.39643847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:-42.36, Z:-13.97 [[ 9.67300411e-01 2.46432755e-01 6.00067656e-02 2.08392949e+02] [-2.45987312e-01 9.69159798e-01 -1.48164964e-02 -4.23630076e+01] [-6.18074149e-02 -4.28899943e-04 9.98088002e-01 -1.39661763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:-42.37, Z:-13.97 [[ 9.66978720e-01 2.47604477e-01 6.03670206e-02 2.08424449e+02] [-2.47155180e-01 9.68861073e-01 -1.49177362e-02 -4.23712652e+01] [-6.21809546e-02 -4.94888390e-04 9.98064769e-01 -1.39681606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:-42.38, Z:-13.97 [[ 9.66387383e-01 2.49777019e-01 6.08840414e-02 2.08454822e+02] [-2.49323506e-01 9.68303179e-01 -1.50579883e-02 -4.23801642e+01] [-6.27153502e-02 -6.27972774e-04 9.98031257e-01 -1.39698188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:-42.39, Z:-13.97 [[ 9.66052005e-01 2.51141687e-01 6.05918866e-02 2.08486362e+02] [-2.50694494e-01 9.67950081e-01 -1.49970191e-02 -4.23883922e+01] [-6.24162982e-02 -7.02151977e-04 9.98049955e-01 -1.39717918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:-42.40, Z:-13.97 [[ 9.65663479e-01 2.52787098e-01 5.99393753e-02 2.08518750e+02] [-2.52351931e-01 9.67521608e-01 -1.48472632e-02 -4.23960391e+01] [-6.17458373e-02 -7.88357230e-04 9.98091594e-01 -1.39744766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:-42.40, Z:-13.98 [[ 9.64895638e-01 2.55967240e-01 5.87977934e-02 2.08549888e+02] [-2.55553662e-01 9.66684979e-01 -1.45766038e-02 -4.24021344e+01] [-6.05700767e-02 -9.61090048e-04 9.98163485e-01 -1.39778216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:-42.41, Z:-13.98 [[ 9.64484379e-01 2.57538439e-01 5.86841961e-02 2.08580572e+02] [-2.57128962e-01 9.66267482e-01 -1.45550523e-02 -4.24100696e+01] [-6.04531158e-02 -1.05128581e-03 9.98170484e-01 -1.39806375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:-42.42, Z:-13.98 [[ 9.64182084e-01 2.58800801e-01 5.80952109e-02 2.08612715e+02] [-2.58401175e-01 9.65930078e-01 -1.44193282e-02 -4.24183259e+01] [-5.98476452e-02 -1.10901288e-03 9.98206907e-01 -1.39823921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:-42.43, Z:-13.99 [[ 9.63848376e-01 2.60290225e-01 5.69676014e-02 2.08644149e+02] [-2.59907925e-01 9.65529718e-01 -1.41504261e-02 -4.24253380e+01] [-5.86871297e-02 -1.16746581e-03 9.98275742e-01 -1.39850210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-42.43, Z:-13.99 [[ 9.63779604e-01 2.60641493e-01 5.65233221e-02 2.08676030e+02] [-2.60265156e-01 9.65434950e-01 -1.40500961e-02 -4.24329690e+01] [-5.82316287e-02 -1.16985521e-03 9.98302414e-01 -1.39879186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:-42.44, Z:-13.99 [[ 9.63895876e-01 2.60315425e-01 5.60412264e-02 2.08707191e+02] [-2.59944264e-01 9.65522969e-01 -1.39418412e-02 -4.24402251e+01] [-5.77383676e-02 -1.12911211e-03 9.98331110e-01 -1.39900382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:-42.45, Z:-13.99 [[ 9.63968858e-01 2.59998036e-01 5.62588802e-02 2.08739616e+02] [-2.59623104e-01 9.65608509e-01 -1.40018581e-02 -4.24475620e+01] [-5.79645090e-02 -1.10874988e-03 9.98318029e-01 -1.39923976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:-42.45, Z:-13.99 [[ 9.64095107e-01 2.59522522e-01 5.62910790e-02 2.08771657e+02] [-2.59145729e-01 9.65736462e-01 -1.40205670e-02 -4.24548786e+01] [-5.80010004e-02 -1.07043270e-03 9.98315951e-01 -1.39944987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:-42.46, Z:-14.00 [[ 9.64231233e-01 2.58746771e-01 5.75172842e-02 2.08802275e+02] [-2.58351283e-01 9.65944635e-01 -1.43379259e-02 -4.24631266e+01] [-5.92684041e-02 -1.03458826e-03 9.98241547e-01 -1.39957485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-42.47, Z:-14.00 [[ 9.64169696e-01 2.58846611e-01 5.80967260e-02 2.08833051e+02] [-2.58442913e-01 9.65917874e-01 -1.44886645e-02 -4.24707043e+01] [-5.98670078e-02 -1.04515587e-03 9.98205815e-01 -1.39978158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:-42.48, Z:-14.00 [[ 9.64203857e-01 2.58910815e-01 5.72373362e-02 2.08865631e+02] [-2.58518519e-01 9.65900689e-01 -1.42840495e-02 -4.24780993e+01] [-5.89838774e-02 -1.02417579e-03 9.98258410e-01 -1.39994851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-42.48, Z:-14.00 [[ 9.64072523e-01 2.59403263e-01 5.72199013e-02 2.08896860e+02] [-2.59011433e-01 9.65768532e-01 -1.42905299e-02 -4.24848093e+01] [-5.89681902e-02 -1.04350145e-03 9.98259317e-01 -1.40018682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:-42.49, Z:-14.00 [[ 9.63850126e-01 2.60420366e-01 5.63397577e-02 2.08929675e+02] [-2.60041689e-01 9.65494727e-01 -1.40802090e-02 -4.24908512e+01] [-5.80625121e-02 -1.07947455e-03 9.98312366e-01 -1.40043301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:-42.50, Z:-14.01 [[ 9.63753660e-01 2.60855943e-01 5.59737367e-02 2.08961837e+02] [-2.60482318e-01 9.65377124e-01 -1.39989357e-02 -4.24981780e+01] [-5.76874706e-02 -1.08864314e-03 9.98334098e-01 -1.40062431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:-42.51, Z:-14.01 [[ 9.63685528e-01 2.60941492e-01 5.67427555e-02 2.08993308e+02] [-2.60557001e-01 9.65353993e-01 -1.42026861e-02 -4.25051692e+01] [-5.84829157e-02 -1.09779912e-03 9.98287806e-01 -1.40089555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:-42.51, Z:-14.01 [[ 9.63757476e-01 2.60657539e-01 5.68258251e-02 2.09025487e+02] [-2.60270825e-01 9.65430732e-01 -1.42337544e-02 -4.25124779e+01] [-5.85715333e-02 -1.07221721e-03 9.98282638e-01 -1.40106053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:-42.52, Z:-14.01 [[ 9.64127156e-01 2.59395339e-01 5.63283753e-02 2.09057439e+02] [-2.59012595e-01 9.65770731e-01 -1.41198794e-02 -4.25196130e+01] [-5.80629271e-02 -9.76399506e-04 9.98312448e-01 -1.40124476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-42.53, Z:-14.01 [[ 9.64286321e-01 2.58833241e-01 5.61893576e-02 2.09089064e+02] [-2.58450774e-01 9.65921575e-01 -1.40963753e-02 -4.25265424e+01] [-5.79231234e-02 -9.29241052e-04 9.98320614e-01 -1.40143176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:-42.53, Z:-14.02 [[ 9.64643931e-01 2.57533172e-01 5.60245577e-02 2.09122105e+02] [-2.57150168e-01 9.66269094e-01 -1.40651872e-02 -4.25316874e+01] [-5.77570509e-02 -8.38826921e-04 9.98330316e-01 -1.40162896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-42.54, Z:-14.02 [[ 9.64761409e-01 2.56971396e-01 5.65784890e-02 2.09153517e+02] [-2.56579117e-01 9.66418677e-01 -1.42161227e-02 -4.25388544e+01] [-5.83316453e-02 -8.01692122e-04 9.98296938e-01 -1.40188829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:-42.55, Z:-14.02 [[ 9.65010605e-01 2.56085205e-01 5.63462494e-02 2.09185443e+02] [-2.55694013e-01 9.66653934e-01 -1.41684121e-02 -4.25464465e+01] [-5.80956444e-02 -7.34730693e-04 9.98310751e-01 -1.40206173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-42.55, Z:-14.02 [[ 9.65334672e-01 2.54898353e-01 5.61765078e-02 2.09217115e+02] [-2.54506859e-01 9.66967635e-01 -1.41369069e-02 -4.25535929e+01] [-5.79243392e-02 -6.50460140e-04 9.98320764e-01 -1.40227692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-42.56, Z:-14.02 [[ 9.65677745e-01 2.53609792e-01 5.61120916e-02 2.09247987e+02] [-2.53216298e-01 9.67306445e-01 -1.41331948e-02 -4.25605385e+01] [-5.78619045e-02 -5.60384404e-04 9.98324439e-01 -1.40248833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:209.28, Y:-42.57, Z:-14.03 [[ 9.66678423e-01 2.49802650e-01 5.59594748e-02 2.09279655e+02] [-2.49404554e-01 9.68296716e-01 -1.41010012e-02 -4.25674306e+01] [-5.77078431e-02 -3.25414272e-04 9.98333461e-01 -1.40284913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:-42.58, Z:-14.03 [[ 9.67074744e-01 2.48267297e-01 5.59445174e-02 2.09310652e+02] [-2.47866190e-01 9.68691540e-01 -1.41085814e-02 -4.25763511e+01] [-5.76956801e-02 -2.22701680e-04 9.98334192e-01 -1.40306148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:-42.58, Z:-14.03 [[ 9.67623595e-01 2.46184699e-01 5.56567296e-02 2.09342319e+02] [-2.45783601e-01 9.69222929e-01 -1.40475972e-02 -4.25849349e+01] [-5.74020820e-02 -8.67248967e-05 9.98351137e-01 -1.40323614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:209.37, Y:-42.59, Z:-14.04 [[ 9.68345445e-01 2.43204819e-01 5.62006736e-02 2.09372715e+02] [-2.42790590e-01 9.69974952e-01 -1.41888241e-02 -4.25946424e+01] [-5.79640361e-02 9.46884964e-05 9.98318667e-01 -1.40357607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:-42.60, Z:-14.04 [[ 9.68650951e-01 2.42045794e-01 5.59389806e-02 2.09403012e+02] [-2.41632796e-01 9.70264811e-01 -1.41346598e-02 -4.26040602e+01] [-5.76968594e-02 1.74859372e-04 9.98334133e-01 -1.40368389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:-42.61, Z:-14.04 [[ 9.68769058e-01 2.41511627e-01 5.62018293e-02 2.09433437e+02] [-2.41093451e-01 9.70397902e-01 -1.42077221e-02 -4.26138574e+01] [-5.79694673e-02 2.14108577e-04 9.98318334e-01 -1.40391407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:-42.62, Z:-14.04 [[ 9.68748898e-01 2.41593152e-01 5.61989475e-02 2.09465797e+02] [-2.41174453e-01 9.70377607e-01 -1.42191113e-02 -4.26221862e+01] [-5.79694401e-02 2.20997956e-04 9.98318334e-01 -1.40415216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.50, Y:-42.63, Z:-14.04 [[ 9.68778393e-01 2.41464863e-01 5.62418433e-02 2.09496179e+02] [-2.41045091e-01 9.70409535e-01 -1.42337037e-02 -4.26321044e+01] [-5.80145603e-02 2.32484357e-04 9.98315710e-01 -1.40445631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-42.64, Z:-14.05 [[ 9.68596729e-01 2.42277898e-01 5.58730378e-02 2.09527799e+02] [-2.41864382e-01 9.70206876e-01 -1.41505366e-02 -4.26406084e+01] [-5.76367678e-02 1.92465714e-04 9.98337601e-01 -1.40462227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-42.65, Z:-14.05 [[ 9.68254995e-01 2.43602750e-01 5.60353884e-02 2.09558490e+02] [-2.43188338e-01 9.69875087e-01 -1.42038003e-02 -4.26493741e+01] [-5.78074121e-02 1.25747623e-04 9.98327745e-01 -1.40487858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-42.66, Z:-14.05 [[ 9.67776816e-01 2.45485891e-01 5.60777372e-02 2.09589508e+02] [-2.45073357e-01 9.69400163e-01 -1.42257838e-02 -4.26585058e+01] [-5.78539968e-02 2.42245076e-05 9.98325055e-01 -1.40513591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:-42.67, Z:-14.05 [[ 9.66599372e-01 2.49680521e-01 5.78385009e-02 2.09618802e+02] [-2.49537517e-01 9.68315557e-01 -9.79841554e-03 -4.26710170e+01] [-5.84523937e-02 -4.96173357e-03 9.98277867e-01 -1.40542875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:-42.68, Z:-14.06 [[ 9.65873569e-01 2.52739388e-01 5.66661284e-02 2.09649358e+02] [-2.52373277e-01 9.67533743e-01 -1.36449795e-02 -4.26777327e+01] [-5.82750150e-02 -1.12169145e-03 9.98299937e-01 -1.40570830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:-42.68, Z:-14.06 [[ 9.65497364e-01 2.54861000e-01 5.34856135e-02 2.09681903e+02] [-2.54200574e-01 9.66966409e-01 -1.89217587e-02 -4.26830461e+01] [-5.65412099e-02 4.67283454e-03 9.98389331e-01 -1.40602419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-42.69, Z:-14.06 [[ 9.64446991e-01 2.58619230e-01 5.43883859e-02 2.09713266e+02] [-2.58250138e-01 9.65979086e-01 -1.38301369e-02 -4.26937090e+01] [-5.61147826e-02 -7.07374246e-04 9.98424074e-01 -1.40620392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:-42.71, Z:-14.06 [[ 9.64009621e-01 2.60153000e-01 5.48257921e-02 2.09744262e+02] [-2.60257771e-01 9.65524375e-01 -5.34543818e-03 -4.27052216e+01] [-5.43262704e-02 -9.11578461e-03 9.98481627e-01 -1.40585724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.78, Y:-42.70, Z:-14.07 [[ 9.63164616e-01 2.63705534e-01 5.26622587e-02 2.09776983e+02] [-2.62883397e-01 9.64574547e-01 -2.20966661e-02 -4.27035213e+01] [-5.66236875e-02 7.43869346e-03 9.98367880e-01 -1.40674674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:-42.72, Z:-14.07 [[ 9.62583938e-01 2.65316662e-01 5.51292227e-02 2.09807284e+02] [-2.64946516e-01 9.64160724e-01 -1.40514112e-02 -4.27164024e+01] [-5.68815047e-02 -1.08063278e-03 9.98380352e-01 -1.40688497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-42.72, Z:-14.07 [[ 9.61422739e-01 2.69346136e-01 5.58477987e-02 2.09838926e+02] [-2.68972386e-01 9.63042524e-01 -1.42461180e-02 -4.27244121e+01] [-5.76209419e-02 -1.32497389e-03 9.98337654e-01 -1.40706396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.87, Y:-42.73, Z:-14.07 [[ 9.60855633e-01 2.71354798e-01 5.58840467e-02 2.09869991e+02] [-2.70983272e-01 9.62478319e-01 -1.42671607e-02 -4.27313957e+01] [-5.76586459e-02 -1.43496009e-03 9.98335325e-01 -1.40729817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:-42.74, Z:-14.08 [[ 9.59961531e-01 2.74540396e-01 5.56904840e-02 2.09902276e+02] [-2.74176179e-01 9.61574218e-01 -1.42283151e-02 -4.27360438e+01] [-5.74567809e-02 -1.61036900e-03 9.98346696e-01 -1.40756535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:-42.74, Z:-14.08 [[ 9.59619898e-01 2.75812957e-01 5.52889209e-02 2.09933462e+02] [-2.75455435e-01 9.61209887e-01 -1.41371004e-02 -4.27423052e+01] [-5.70434528e-02 -1.66339088e-03 9.98370311e-01 -1.40780616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:-42.75, Z:-14.08 [[ 9.59267226e-01 2.76779669e-01 5.65632730e-02 2.09964138e+02] [-2.76566378e-01 9.60923335e-01 -1.17210392e-02 -4.27503687e+01] [-5.75971143e-02 -4.39989079e-03 9.98330213e-01 -1.40805016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-42.75, Z:-14.08 [[ 9.59073744e-01 2.77775933e-01 5.49370943e-02 2.09997071e+02] [-2.77270226e-01 9.60645511e-01 -1.67757137e-02 -4.27524122e+01] [-5.74349625e-02 8.56726021e-04 9.98348882e-01 -1.40830132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-42.76, Z:-14.08 [[ 9.59070081e-01 2.77590442e-01 5.59296552e-02 2.10029074e+02] [-2.77226151e-01 9.60697887e-01 -1.43259153e-02 -4.27611636e+01] [-5.77082387e-02 -1.76560627e-03 9.98331930e-01 -1.40848579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:-42.77, Z:-14.09 [[ 9.59188874e-01 2.77148814e-01 5.60824318e-02 2.10061622e+02] [-2.76781121e-01 9.60825443e-01 -1.43763462e-02 -4.27685329e+01] [-5.78698147e-02 -1.73292698e-03 9.98322634e-01 -1.40868836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:-42.78, Z:-14.09 [[ 9.59309246e-01 2.76613639e-01 5.66627287e-02 2.10092435e+02] [-2.76236670e-01 9.60979698e-01 -1.45368903e-02 -4.27754649e+01] [-5.84728341e-02 -1.70695022e-03 9.98287541e-01 -1.40895647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:-42.78, Z:-14.09 [[ 9.59820060e-01 2.74653038e-01 5.75426948e-02 2.10125480e+02] [-2.74260091e-01 9.61542065e-01 -1.47735901e-02 -4.27812081e+01] [-5.93873330e-02 -1.60167659e-03 9.98233730e-01 -1.40912251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-42.79, Z:-14.09 [[ 9.60047070e-01 2.73813578e-01 5.77559288e-02 2.10156583e+02] [-2.73415450e-01 9.61781546e-01 -1.48408101e-02 -4.27870902e+01] [-5.96122018e-02 -1.54348700e-03 9.98220418e-01 -1.40936275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:-42.79, Z:-14.10 [[ 9.60551500e-01 2.72220972e-01 5.68907528e-02 2.10188429e+02] [-2.71831526e-01 9.62233722e-01 -1.46248611e-02 -4.27904093e+01] [-5.87233947e-02 -1.41676791e-03 9.98273287e-01 -1.40966172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.22, Y:-42.80, Z:-14.10 [[ 9.60815857e-01 2.71430031e-01 5.62016674e-02 2.10219925e+02] [-2.71048052e-01 9.62457239e-01 -1.44574282e-02 -4.27977449e+01] [-5.80158818e-02 -1.34242614e-03 9.98314758e-01 -1.40988918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:210.25, Y:-42.81, Z:-14.10 [[ 9.61084959e-01 2.70567694e-01 5.57568294e-02 2.10251005e+02] [-2.70189734e-01 9.62700113e-01 -1.43526690e-02 -4.28056275e+01] [-5.75604746e-02 -1.27078864e-03 9.98341213e-01 -1.41008350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:210.28, Y:-42.81, Z:-14.10 [[ 9.61659758e-01 2.68548766e-01 5.56063884e-02 2.10282210e+02] [-2.68168904e-01 9.63265419e-01 -1.43238303e-02 -4.28105881e+01] [-5.74103580e-02 -1.13725304e-03 9.98350018e-01 -1.41026882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-42.82, Z:-14.11 [[ 9.62024071e-01 2.67109649e-01 5.62327468e-02 2.10313468e+02] [-2.66718077e-01 9.63665568e-01 -1.44962088e-02 -4.28159972e+01] [-5.80616391e-02 -1.05258822e-03 9.98312445e-01 -1.41056229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:-42.82, Z:-14.11 [[ 9.62512718e-01 2.65289850e-01 5.64850671e-02 2.10343188e+02] [-2.64891530e-01 9.64168243e-01 -1.45628198e-02 -4.28214266e+01] [-5.83244762e-02 -9.45516554e-04 9.98297231e-01 -1.41075887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:-42.83, Z:-14.11 [[ 9.63517415e-01 2.61471144e-01 5.71579586e-02 2.10374224e+02] [-2.61056518e-01 9.65211023e-01 -1.47368698e-02 -4.28265870e+01] [-5.90227579e-02 -7.22226935e-04 9.98256376e-01 -1.41098337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:-42.83, Z:-14.11 [[ 9.63956585e-01 2.59836685e-01 5.72066317e-02 2.10405888e+02] [-2.59418498e-01 9.65652375e-01 -1.47490400e-02 -4.28334286e+01] [-5.90740614e-02 -6.23024176e-04 9.98253408e-01 -1.41123895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03264000000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.44, Y:-42.84, Z:-14.11 [[ 9.64373331e-01 2.58352485e-01 5.69040531e-02 2.10437666e+02] [-2.57935545e-01 9.66050580e-01 -1.46809819e-02 -4.28402534e+01] [-5.87650617e-02 -5.19630516e-04 9.98271705e-01 -1.41134295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:-42.85, Z:-14.12 [[ 9.64652786e-01 2.55815451e-01 6.32728828e-02 2.10467357e+02] [-2.56083588e-01 9.66646479e-01 -3.97260780e-03 -4.28519307e+01] [-6.21787638e-02 -1.23709597e-02 9.97988357e-01 -1.41173789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-42.85, Z:-14.11 [[ 9.65011968e-01 2.56104181e-01 5.62365635e-02 2.10501353e+02] [-2.55605605e-01 9.66648589e-01 -1.60087487e-02 -4.28512020e+01] [-5.84609022e-02 1.07425325e-03 9.98289121e-01 -1.41143206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-42.85, Z:-14.12 [[ 9.65167513e-01 2.55538953e-01 5.61383684e-02 2.10532878e+02] [-2.54531405e-01 9.66753100e-01 -2.45399384e-02 -4.28511353e+01] [-6.05428518e-02 9.39617355e-03 9.98121373e-01 -1.41226473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:-42.87, Z:-14.13 [[ 9.65204401e-01 2.53642379e-01 6.36082408e-02 2.10559917e+02] [-2.53844146e-01 9.67232087e-01 -5.02389258e-03 -4.28690571e+01] [-6.27982036e-02 -1.12974963e-02 9.97962300e-01 -1.41255254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:-42.86, Z:-14.13 [[ 9.65576662e-01 2.54107302e-01 5.55984539e-02 2.10595845e+02] [-2.53037687e-01 9.67117213e-01 -2.56169117e-02 -4.28640568e+01] [-6.02796661e-02 1.06665879e-02 9.98124534e-01 -1.41279149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:-42.88, Z:-14.13 [[ 9.65854479e-01 2.52451573e-01 5.82522833e-02 2.10626983e+02] [-2.52000426e-01 9.67609524e-01 -1.50861964e-02 -4.28772540e+01] [-6.01739981e-02 -1.08529895e-04 9.98187897e-01 -1.41298286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:-42.88, Z:-14.13 [[ 9.66697645e-01 2.49001924e-01 5.91075719e-02 2.10658124e+02] [-2.48530147e-01 9.68502983e-01 -1.53211865e-02 -4.28831636e+01] [-6.10608646e-02 1.20941405e-04 9.98134037e-01 -1.41318194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-42.89, Z:-14.13 [[ 9.67158474e-01 2.47083074e-01 5.96191255e-02 2.10689092e+02] [-2.46599001e-01 9.68994268e-01 -1.54609517e-02 -4.28902698e+01] [-6.15907304e-02 2.51173666e-04 9.98101457e-01 -1.41339357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-42.90, Z:-14.14 [[ 9.67614268e-01 2.45161557e-01 6.01534616e-02 2.10720671e+02] [-2.44664319e-01 9.69482161e-01 -1.56112339e-02 -4.28977682e+01] [-6.21449823e-02 3.88246946e-04 9.98067057e-01 -1.41362580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:-42.91, Z:-14.14 [[ 9.68121134e-01 2.43031997e-01 6.06375995e-02 2.10751395e+02] [-2.42521740e-01 9.70018121e-01 -1.57496075e-02 -4.29051077e+01] [-6.26472289e-02 5.41591723e-04 9.98035586e-01 -1.41390381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-42.92, Z:-14.14 [[ 9.69064543e-01 2.38253711e-01 6.44133593e-02 2.10779244e+02] [-2.38475433e-01 9.71138847e-01 -4.33679735e-03 -4.29200361e+01] [-6.35875736e-02 -1.11583672e-02 9.97913880e-01 -1.41391068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-42.92, Z:-14.14 [[ 9.69518095e-01 2.37892003e-01 5.86690617e-02 2.10814073e+02] [-2.36775884e-01 9.71232347e-01 -2.53950546e-02 -4.29170447e+01] [-6.30225709e-02 1.07295460e-02 9.97954424e-01 -1.41445106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-42.93, Z:-14.15 [[ 9.69975393e-01 2.35661465e-01 6.00950185e-02 2.10844144e+02] [-2.35019922e-01 9.71830648e-01 -1.76302962e-02 -4.29303744e+01] [-6.25569622e-02 2.97742696e-03 9.98036954e-01 -1.41464333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-42.94, Z:-14.15 [[ 9.70697652e-01 2.32611682e-01 6.03147968e-02 2.10874090e+02] [-2.32084281e-01 9.72568893e-01 -1.57045927e-02 -4.29420433e+01] [-6.23133669e-02 1.24629497e-03 9.98055856e-01 -1.41490606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:-42.95, Z:-14.15 [[ 9.70991374e-01 2.31434412e-01 6.01154302e-02 2.10905774e+02] [-2.30907558e-01 9.72849602e-01 -1.56636770e-02 -4.29527789e+01] [-6.21083863e-02 1.32818802e-03 9.98068527e-01 -1.41518394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-42.96, Z:-14.15 [[ 9.71245205e-01 2.30494405e-01 5.96245075e-02 2.10937313e+02] [-2.29973642e-01 9.73072660e-01 -1.55474217e-02 -4.29633132e+01] [-6.16025718e-02 1.38829364e-03 9.98099793e-01 -1.41542987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.97, Y:-42.98, Z:-14.16 [[ 9.71450182e-01 2.29419801e-01 6.04243206e-02 2.10965756e+02] [-2.29118711e-01 9.73325021e-01 -1.19590759e-02 -4.29767125e+01] [-6.15561520e-02 -2.22669606e-03 9.98101138e-01 -1.41551826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57264000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.99, Y:-43.00, Z:-14.16 [[ 9.71104916e-01 2.28348638e-01 6.93696036e-02 2.10993856e+02] [-2.29055071e-01 9.73410750e-01 2.29908039e-03 -4.29958722e+01] [-6.70001260e-02 -1.81221078e-02 9.97588378e-01 -1.41597808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-42.99, Z:-14.16 [[ 9.71160959e-01 2.32136430e-01 5.43973365e-02 2.11029748e+02] [-2.30467500e-01 9.72441046e-01 -3.52582361e-02 -4.29850258e+01] [-6.10829239e-02 2.17046042e-02 9.97896681e-01 -1.41629209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:-43.01, Z:-14.16 [[ 9.70987041e-01 2.32021259e-01 5.78817968e-02 2.11056247e+02] [-2.31337934e-01 9.72700717e-01 -1.83323382e-02 -4.30052018e+01] [-6.05551574e-02 4.41020750e-03 9.98155110e-01 -1.41642056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:-43.02, Z:-14.17 [[ 9.70393033e-01 2.34287051e-01 5.87106469e-02 2.11085507e+02] [-2.33787048e-01 9.72166769e-01 -1.53424087e-02 -4.30204797e+01] [-6.06710676e-02 1.16237771e-03 9.98157137e-01 -1.41665222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:-43.03, Z:-14.17 [[ 9.69862947e-01 2.35905341e-01 6.09469715e-02 2.11115695e+02] [-2.35613749e-01 9.71772311e-01 -1.20306807e-02 -4.30329382e+01] [-6.20646812e-02 -2.69183297e-03 9.98068499e-01 -1.41683060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:-43.04, Z:-14.17 [[ 9.69391078e-01 2.38523887e-01 5.82004555e-02 2.11147546e+02] [-2.37801911e-01 9.71125225e-01 -1.91323695e-02 -4.30392802e+01] [-6.10834576e-02 4.70656870e-03 9.98121565e-01 -1.41706463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.18, Y:-43.05, Z:-14.17 [[ 9.68093191e-01 2.43391039e-01 5.96353633e-02 2.11175944e+02] [-2.42914309e-01 9.69928212e-01 -1.52283284e-02 -4.30534753e+01] [-6.15484600e-02 2.56157978e-04 9.98104063e-01 -1.41704790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-43.07, Z:-14.17 [[ 9.67196415e-01 2.46031470e-01 6.32424762e-02 2.11205960e+02] [-2.45849534e-01 9.69248230e-01 -1.07645898e-02 -4.30669056e+01] [-6.39460860e-02 -5.13666064e-03 9.97940135e-01 -1.41743601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:-43.07, Z:-14.18 [[ 9.66396753e-01 2.50002083e-01 5.98019500e-02 2.11238945e+02] [-2.49228730e-01 9.68234385e-01 -2.01795750e-02 -4.30724763e+01] [-6.29472401e-02 4.59711174e-03 9.98006268e-01 -1.41764214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:-43.09, Z:-14.18 [[ 9.64672006e-01 2.56027237e-01 6.21126026e-02 2.11268151e+02] [-2.55617527e-01 9.66667888e-01 -1.45902029e-02 -4.30886174e+01] [-6.37777477e-02 -1.80230964e-03 9.97962500e-01 -1.41784055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:-43.10, Z:-14.18 [[ 9.63751595e-01 2.59376640e-01 6.25029678e-02 2.11298241e+02] [-2.58949474e-01 9.65774668e-01 -1.49820020e-02 -4.30980757e+01] [-6.42497643e-02 -1.74618233e-03 9.97932322e-01 -1.41810491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:-43.10, Z:-14.18 [[ 9.62513556e-01 2.64547895e-01 5.98503587e-02 2.11329027e+02] [-2.63909474e-01 9.64370500e-01 -1.84750806e-02 -4.31047924e+01] [-6.26054640e-02 1.98743892e-03 9.98036375e-01 -1.41841417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:-43.11, Z:-14.19 [[ 9.62033993e-01 2.66428553e-01 5.92150494e-02 2.11360726e+02] [-2.65869058e-01 9.63854269e-01 -1.72798439e-02 -4.31146171e+01] [-6.16785219e-02 8.80347852e-04 9.98095679e-01 -1.41858385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:-43.14, Z:-14.18 [[ 9.61529521e-01 2.65985380e-01 6.86495360e-02 2.11386081e+02] [-2.67124243e-01 9.63630439e-01 7.81122094e-03 -4.31382404e+01] [-6.40751120e-02 -2.58486748e-02 9.97610258e-01 -1.41833781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.42, Y:-43.12, Z:-14.19 [[ 9.61379294e-01 2.69677880e-01 5.49881351e-02 2.11422838e+02] [-2.67859414e-01 9.62698020e-01 -3.82603680e-02 -4.31207209e+01] [-6.32549437e-02 2.20536359e-02 9.97753702e-01 -1.41922252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.45, Y:-43.14, Z:-14.19 [[ 9.61436959e-01 2.68200602e-01 6.08885095e-02 2.11451928e+02] [-2.67725713e-01 9.63362631e-01 -1.59807197e-02 -4.31419496e+01] [-6.29437534e-02 -9.36965001e-04 9.98016636e-01 -1.41927980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.48, Y:-43.15, Z:-14.20 [[ 9.61558105e-01 2.67983286e-01 5.99247029e-02 2.11483070e+02] [-2.67396426e-01 9.63422989e-01 -1.77565707e-02 -4.31510047e+01] [-6.24913005e-02 1.05032305e-03 9.98044956e-01 -1.41953778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:-43.16, Z:-14.20 [[ 9.61673714e-01 2.67493562e-01 6.02566420e-02 2.11514106e+02] [-2.67025007e-01 9.63559273e-01 -1.58484247e-02 -4.31613677e+01] [-6.23001977e-02 -8.49016789e-04 9.98057095e-01 -1.41978545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:-43.17, Z:-14.20 [[ 9.61952984e-01 2.66503791e-01 6.01845967e-02 2.11545310e+02] [-2.66033672e-01 9.63833561e-01 -1.58414716e-02 -4.31729090e+01] [-6.22297464e-02 -7.72378359e-04 9.98061552e-01 -1.42002785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:-43.18, Z:-14.20 [[ 9.61994592e-01 2.66379269e-01 6.00707065e-02 2.11577025e+02] [-2.65909946e-01 9.63867999e-01 -1.58234166e-02 -4.31825141e+01] [-6.21152619e-02 -7.51357107e-04 9.98068700e-01 -1.42030602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:-43.19, Z:-14.21 [[ 9.61950157e-01 2.66678831e-01 5.94499445e-02 2.11607805e+02] [-2.66218941e-01 9.63785162e-01 -1.56728149e-02 -4.31911204e+01] [-6.14765823e-02 -7.50234480e-04 9.98108244e-01 -1.42050939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:-43.20, Z:-14.21 [[ 9.61807609e-01 2.67243318e-01 5.92210476e-02 2.11639225e+02] [-2.66787632e-01 9.63628769e-01 -1.56190290e-02 -4.31995446e+01] [-6.12411864e-02 -7.76942117e-04 9.98122695e-01 -1.42074958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-43.21, Z:-14.21 [[ 9.61563859e-01 2.68088423e-01 5.93594412e-02 2.11671128e+02] [-2.67631461e-01 9.63393961e-01 -1.56677158e-02 -4.32084849e+01] [-6.13868603e-02 -8.20944699e-04 9.98113711e-01 -1.42100488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:-43.22, Z:-14.21 [[ 9.61277227e-01 2.69055976e-01 5.96236049e-02 2.11702222e+02] [-2.68596023e-01 9.63124144e-01 -1.57499020e-02 -4.32171841e+01] [-6.16625387e-02 -8.74641042e-04 9.98096672e-01 -1.42126639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-43.22, Z:-14.22 [[ 9.60775721e-01 2.70988568e-01 5.89509102e-02 2.11733340e+02] [-2.70541850e-01 9.62582071e-01 -1.55840919e-02 -4.32243952e+01] [-6.09682000e-02 -9.75871194e-04 9.98139232e-01 -1.42152454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.77, Y:-43.23, Z:-14.22 [[ 9.60622063e-01 2.71635385e-01 5.84762297e-02 2.11765514e+02] [-2.71196653e-01 9.62399716e-01 -1.54648948e-02 -4.32323489e+01] [-6.04783195e-02 -1.00263863e-03 9.98169008e-01 -1.42162239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-43.24, Z:-14.22 [[ 9.60413886e-01 2.72172526e-01 5.93909398e-02 2.11796110e+02] [-2.71720146e-01 9.62247907e-01 -1.57202787e-02 -4.32407493e+01] [-6.14274355e-02 -1.03974091e-03 9.98111010e-01 -1.42202442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:-43.25, Z:-14.22 [[ 9.60371619e-01 2.72179562e-01 6.00386501e-02 2.11828044e+02] [-2.71716825e-01 9.62245912e-01 -1.58988182e-02 -4.32490482e+01] [-6.20992790e-02 -1.04473763e-03 9.98069430e-01 -1.42222379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.86, Y:-43.25, Z:-14.22 [[ 9.60416441e-01 2.71719320e-01 6.13911395e-02 2.11859671e+02] [-2.71233730e-01 9.62375997e-01 -1.62697381e-02 -4.32545862e+01] [-6.35021612e-02 -1.02562384e-03 9.97981174e-01 -1.42237506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:-43.26, Z:-14.23 [[ 9.60510346e-01 2.70806484e-01 6.39040221e-02 2.11891274e+02] [-2.70575655e-01 9.62618795e-01 -1.24044717e-02 -4.32639646e+01] [-6.48744241e-02 -5.37624924e-03 9.97878953e-01 -1.42261180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:-43.27, Z:-14.23 [[ 9.60770466e-01 2.70006949e-01 6.33747484e-02 2.11922397e+02] [-2.69455325e-01 9.62858246e-01 -1.72576369e-02 -4.32682768e+01] [-6.56805810e-02 -4.96035601e-04 9.97840576e-01 -1.42291121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:211.96, Y:-43.27, Z:-14.23 [[ 9.61090682e-01 2.69514335e-01 6.05534876e-02 2.11955267e+02] [-2.68772091e-01 9.62991138e-01 -2.02393714e-02 -4.32746360e+01] [-6.37672727e-02 3.17678375e-03 9.97959740e-01 -1.42297277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.99, Y:-43.29, Z:-14.23 [[ 9.61310514e-01 2.68660532e-01 6.08573293e-02 2.11985910e+02] [-2.68174684e-01 9.63234610e-01 -1.61686172e-02 -4.32850237e+01] [-6.29637552e-02 -7.77333364e-04 9.98015512e-01 -1.42321221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:212.02, Y:-43.29, Z:-14.23 [[ 9.61555562e-01 2.67914855e-01 6.02704793e-02 2.12016526e+02] [-2.67436095e-01 9.63442332e-01 -1.60252232e-02 -4.32928220e+01] [-6.23605265e-02 -7.09359112e-04 9.98053436e-01 -1.42348252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-43.31, Z:-14.23 [[ 9.62071254e-01 2.65707506e-01 6.17933977e-02 2.12045862e+02] [-2.66010981e-01 9.63963954e-01 -3.41362760e-03 -4.33069615e+01] [-6.04736345e-02 -1.31535694e-02 9.98083124e-01 -1.42330187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-43.30, Z:-14.24 [[ 9.62171539e-01 2.66456454e-01 5.68056971e-02 2.12080063e+02] [-2.65242166e-01 9.63772882e-01 -2.80789113e-02 -4.33006025e+01] [-6.22295976e-02 1.19494632e-02 9.97990324e-01 -1.42437238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.11, Y:-43.32, Z:-14.24 [[ 9.62647450e-01 2.64017063e-01 6.00406355e-02 2.12108167e+02] [-2.64163936e-01 9.64461410e-01 -5.62170071e-03 -4.33204288e+01] [-5.93911009e-02 -1.04488547e-02 9.98180103e-01 -1.42385588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-43.32, Z:-14.25 [[ 9.62632134e-01 2.64307815e-01 5.89979139e-02 2.12140718e+02] [-2.63509288e-01 9.64426751e-01 -2.10688658e-02 -4.33204122e+01] [-6.24678323e-02 4.73506902e-03 9.98035745e-01 -1.42484605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:-43.34, Z:-14.24 [[ 9.63330327e-01 2.61816841e-01 5.87079478e-02 2.12169872e+02] [-2.61686231e-01 9.65100792e-01 -1.00388099e-02 -4.33355059e+01] [-5.92874164e-02 -5.69237158e-03 9.98224724e-01 -1.42437799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:-43.34, Z:-14.25 [[ 9.63233347e-01 2.62613181e-01 5.67083365e-02 2.12203051e+02] [-2.61550887e-01 9.64851757e-01 -2.55386173e-02 -4.33354212e+01] [-6.14219157e-02 9.76753208e-03 9.98064098e-01 -1.42528597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:-43.36, Z:-14.25 [[ 9.63237804e-01 2.61711387e-01 6.06636868e-02 2.12231511e+02] [-2.61895349e-01 9.65083118e-01 -5.03993916e-03 -4.33550668e+01] [-5.98645095e-02 -1.10328775e-02 9.98145539e-01 -1.42479877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:212.26, Y:-43.36, Z:-14.26 [[ 9.62441412e-01 2.63527484e-01 6.52670908e-02 2.12262623e+02] [-2.63300468e-01 9.64636592e-01 -1.22110492e-02 -4.33598780e+01] [-6.61769711e-02 -5.43243615e-03 9.97793113e-01 -1.42557412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-43.36, Z:-14.26 [[ 9.62179727e-01 2.66470716e-01 5.65997414e-02 2.12297728e+02] [-2.65038433e-01 9.63719924e-01 -3.15996349e-02 -4.33570136e+01] [-6.29666758e-02 1.54034213e-02 9.97896754e-01 -1.42597464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-43.38, Z:-14.26 [[ 9.61536914e-01 2.65877893e-01 6.89616511e-02 2.12323253e+02] [-2.66427664e-01 9.63854082e-01 -1.26822778e-03 -4.33822406e+01] [-6.68061626e-02 -1.71538437e-02 9.97618505e-01 -1.42618252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:-43.38, Z:-14.27 [[ 9.60582846e-01 2.71108616e-01 6.14875124e-02 2.12358273e+02] [-2.70138489e-01 9.62528856e-01 -2.37359992e-02 -4.33761421e+01] [-6.56185389e-02 6.19025002e-03 9.97825580e-01 -1.42653211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:-43.39, Z:-14.27 [[ 9.60306902e-01 2.71513960e-01 6.39595401e-02 2.12389085e+02] [-2.71066846e-01 9.62431923e-01 -1.57339965e-02 -4.33886374e+01] [-6.58287029e-02 -2.22784536e-03 9.97828451e-01 -1.42678958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-43.39, Z:-14.27 [[ 9.60192428e-01 2.73392990e-01 5.73303943e-02 2.12420802e+02] [-2.72290460e-01 9.61853264e-01 -2.63856726e-02 -4.33896545e+01] [-6.23570848e-02 9.72480362e-03 9.98006524e-01 -1.42699736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-43.41, Z:-14.27 [[ 9.60079036e-01 2.73394358e-01 5.91926470e-02 2.12450155e+02] [-2.73392522e-01 9.61866857e-01 -8.28722361e-03 -4.34058601e+01] [-5.92011255e-02 -8.22643740e-03 9.98212178e-01 -1.42675873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:-43.41, Z:-14.27 [[ 9.60052369e-01 2.73972834e-01 5.69063726e-02 2.12481758e+02] [-2.73580777e-01 9.61736361e-01 -1.47217767e-02 -4.34098402e+01] [-5.87622945e-02 -1.43481308e-03 9.98270972e-01 -1.42703482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:-43.42, Z:-14.28 [[ 9.59952301e-01 2.73953922e-01 5.86585671e-02 2.12512082e+02] [-2.73342718e-01 9.61741505e-01 -1.83585507e-02 -4.34162793e+01] [-6.14437756e-02 1.58944079e-03 9.98109281e-01 -1.42775077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:-43.42, Z:-14.28 [[ 9.60118431e-01 2.73758282e-01 5.68243000e-02 2.12544436e+02] [-2.72998857e-01 9.61787863e-01 -2.08741522e-02 -4.34234266e+01] [-6.03673941e-02 4.52868928e-03 9.98165952e-01 -1.42790574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:-43.44, Z:-14.28 [[ 9.60272262e-01 2.71521512e-01 6.44457276e-02 2.12570704e+02] [-2.72206442e-01 9.62236943e-01 1.92822352e-03 -4.34444294e+01] [-6.14885058e-02 -1.93941618e-02 9.97919351e-01 -1.42757731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:-43.44, Z:-14.28 [[ 9.60114056e-01 2.73628705e-01 5.75180961e-02 2.12605359e+02] [-2.72439345e-01 9.61772862e-01 -2.77446383e-02 -4.34350335e+01] [-6.29110733e-02 1.09678248e-02 9.97958869e-01 -1.42844309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-43.45, Z:-14.29 [[ 9.60146598e-01 2.73500964e-01 5.75823956e-02 2.12637179e+02] [-2.72643872e-01 9.61854183e-01 -2.24019797e-02 -4.34457295e+01] [-6.15128312e-02 5.80969724e-03 9.98089384e-01 -1.42854731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-43.46, Z:-14.28 [[ 9.59971392e-01 2.72840923e-01 6.33463206e-02 2.12664437e+02] [-2.73163367e-01 9.61960614e-01 -3.68141491e-03 -4.34627358e+01] [-6.19411061e-02 -1.37698413e-02 9.97984815e-01 -1.42828071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-43.46, Z:-14.29 [[ 9.59851485e-01 2.74730038e-01 5.66439168e-02 2.12699204e+02] [-2.73497887e-01 9.61446818e-01 -2.86168054e-02 -4.34557441e+01] [-6.23220096e-02 1.19758916e-02 9.97984241e-01 -1.42911265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-43.47, Z:-14.29 [[ 9.59880519e-01 2.74038010e-01 5.94353228e-02 2.12729058e+02] [-2.73572784e-01 9.61718427e-01 -1.59874331e-02 -4.34699325e+01] [-6.15412096e-02 -9.13861183e-04 9.98104125e-01 -1.42933173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-43.48, Z:-14.29 [[ 9.59980297e-01 2.73289850e-01 6.12412249e-02 2.12757644e+02] [-2.73734443e-01 9.61804596e-01 -1.17180475e-03 -4.34828913e+01] [-5.92223340e-02 -1.56389231e-02 9.98122307e-01 -1.42907697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-43.48, Z:-14.29 [[ 9.60124343e-01 2.74154030e-01 5.47796900e-02 2.12793076e+02] [-2.73560909e-01 9.61682589e-01 -1.81941310e-02 -4.34806314e+01] [-5.76686685e-02 2.48304622e-03 9.98332690e-01 -1.42935512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-43.48, Z:-14.30 [[ 9.60122105e-01 2.74181845e-01 5.46796007e-02 2.12824090e+02] [-2.73125964e-01 9.61624814e-01 -2.60753683e-02 -4.34835839e+01] [-5.97306535e-02 1.01011189e-02 9.98163422e-01 -1.43020185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:-43.50, Z:-14.30 [[ 9.60691583e-01 2.71252911e-01 5.91061842e-02 2.12853058e+02] [-2.71369424e-01 9.62455293e-01 -6.20034904e-03 -4.35019026e+01] [-5.85689225e-02 -1.00829880e-02 9.98232445e-01 -1.42978558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:-43.50, Z:-14.31 [[ 9.60762773e-01 2.71529777e-01 5.66257311e-02 2.12886273e+02] [-2.70520204e-01 9.62391246e-01 -2.49381191e-02 -4.34994298e+01] [-6.12675498e-02 8.64121221e-03 9.98083973e-01 -1.43062969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:-43.52, Z:-14.30 [[ 9.61150721e-01 2.69370240e-01 6.02408976e-02 2.12914754e+02] [-2.69594521e-01 9.62963293e-01 -4.52657889e-03 -4.35184971e+01] [-5.92290988e-02 -1.18898913e-02 9.98173604e-01 -1.43008895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.95, Y:-43.51, Z:-14.31 [[ 9.61175401e-01 2.70006841e-01 5.69047805e-02 2.12948588e+02] [-2.68858344e-01 9.62798407e-01 -2.71001643e-02 -4.35140023e+01] [-6.21050617e-02 1.07486862e-02 9.98011737e-01 -1.43093313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:212.98, Y:-43.53, Z:-14.31 [[ 9.61522130e-01 2.68117252e-01 5.99026880e-02 2.12979200e+02] [-2.67628561e-01 9.63386174e-01 -1.61874191e-02 -4.35277364e+01] [-6.20495478e-02 -4.67108527e-04 9.98072961e-01 -1.43103465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:-43.54, Z:-14.31 [[ 9.61508232e-01 2.68007037e-01 6.06147554e-02 2.13009515e+02] [-2.67505600e-01 9.63416848e-01 -1.63930132e-02 -4.35358062e+01] [-6.27907195e-02 -4.52769424e-04 9.98026613e-01 -1.43146863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:-43.54, Z:-14.32 [[ 9.61827714e-01 2.66998606e-01 5.99932685e-02 2.13040635e+02] [-2.66504717e-01 9.63696843e-01 -1.62366768e-02 -4.35432311e+01] [-6.21504935e-02 -3.71603314e-04 9.98066720e-01 -1.43174741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-43.55, Z:-14.32 [[ 9.62026519e-01 2.66345295e-01 5.97089679e-02 2.13071906e+02] [-2.65854092e-01 9.63877629e-01 -1.61715223e-02 -4.35513721e+01] [-6.18593473e-02 -3.16440143e-04 9.98084827e-01 -1.43199588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-43.56, Z:-14.32 [[ 9.62127002e-01 2.66007501e-01 5.95956552e-02 2.13102485e+02] [-2.65516739e-01 9.63970917e-01 -1.61533758e-02 -4.35595113e+01] [-6.17453975e-02 -2.82045000e-04 9.98091893e-01 -1.43224226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:-43.57, Z:-14.32 [[ 9.61839076e-01 2.66859694e-01 6.04276047e-02 2.13133085e+02] [-2.66356703e-01 9.63735331e-01 -1.63804304e-02 -4.35667789e+01] [-6.26074943e-02 -3.39959549e-04 9.98038169e-01 -1.43244074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-43.58, Z:-14.32 [[ 9.61492747e-01 2.66961491e-01 6.52936455e-02 2.13160102e+02] [-2.67613397e-01 9.63525511e-01 1.28853754e-03 -4.35832128e+01] [-6.25681032e-02 -1.87123738e-02 9.97865261e-01 -1.43197774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:-43.57, Z:-14.33 [[ 9.60898924e-01 2.71217405e-01 5.58066077e-02 2.13194837e+02] [-2.69658986e-01 9.62358107e-01 -3.39250028e-02 -4.35703975e+01] [-6.29069926e-02 1.75497455e-02 9.97865079e-01 -1.43295535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:-43.59, Z:-14.33 [[ 9.60343129e-01 2.72226753e-01 6.02799310e-02 2.13222162e+02] [-2.71736179e-01 9.62232890e-01 -1.63497726e-02 -4.35874706e+01] [-6.24541777e-02 -6.78846322e-04 9.98047602e-01 -1.43308873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-43.59, Z:-14.33 [[ 9.58918381e-01 2.77258617e-01 6.00266442e-02 2.13252014e+02] [-2.76781993e-01 9.60794804e-01 -1.62810735e-02 -4.35934401e+01] [-6.21873558e-02 -1.00207363e-03 9.98063990e-01 -1.43328259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-43.60, Z:-14.33 [[ 9.58158604e-01 2.79828221e-01 6.02350160e-02 2.13281973e+02] [-2.79353346e-01 9.60049369e-01 -1.63375903e-02 -4.35994179e+01] [-6.24003080e-02 -1.17285055e-03 9.98050513e-01 -1.43347657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.31, Y:-43.61, Z:-14.34 [[ 9.57300825e-01 2.82316739e-01 6.22285234e-02 2.13308373e+02] [-2.82104686e-01 9.59304126e-01 -1.23506759e-02 -4.36065280e+01] [-6.31828819e-02 -5.73164584e-03 9.97985507e-01 -1.43358472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:-43.61, Z:-14.34 [[ 9.56014926e-01 2.87155336e-01 5.98103269e-02 2.13338813e+02] [-2.86425709e-01 9.57880551e-01 -2.06194895e-02 -4.36050051e+01] [-6.32121453e-02 2.58132441e-03 9.97996774e-01 -1.43390414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:-43.62, Z:-14.33 [[ 9.55650802e-01 2.87875606e-01 6.21222985e-02 2.13366361e+02] [-2.88397586e-01 9.57510567e-01 -5.88357834e-04 -4.36212941e+01] [-5.96521312e-02 -1.73536563e-02 9.98068371e-01 -1.43328613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:-43.62, Z:-14.34 [[ 9.55548769e-01 2.89019759e-01 5.82591602e-02 2.13397489e+02] [-2.88607076e-01 9.57321158e-01 -1.55613943e-02 -4.36208495e+01] [-6.02702771e-02 -1.94433477e-03 9.98180201e-01 -1.43360588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:-43.62, Z:-14.35 [[ 9.54884425e-01 2.91474719e-01 5.69053890e-02 2.13428909e+02] [-2.90081478e-01 9.56481451e-01 -3.15589870e-02 -4.36172344e+01] [-6.36275959e-02 1.36279858e-02 9.97880658e-01 -1.43471419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-43.63, Z:-14.35 [[ 9.54772736e-01 2.91157844e-01 6.03003463e-02 2.13454515e+02] [-2.90704231e-01 9.56673119e-01 -1.63582593e-02 -4.36300974e+01] [-6.24505559e-02 -1.91114586e-03 9.98046229e-01 -1.43483201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-43.63, Z:-14.35 [[ 9.54734630e-01 2.91431653e-01 5.95766511e-02 2.13482858e+02] [-2.90989676e-01 9.56589747e-01 -1.61575030e-02 -4.36327202e+01] [-6.16992214e-02 -1.91006270e-03 9.98092960e-01 -1.43518304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:-43.64, Z:-14.35 [[ 9.54931478e-01 2.90867225e-01 5.91787947e-02 2.13509595e+02] [-2.90430305e-01 9.56761610e-01 -1.60455253e-02 -4.36379646e+01] [-6.12871164e-02 -1.86493819e-03 9.98118436e-01 -1.43537537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.54, Y:-43.64, Z:-14.36 [[ 9.55206855e-01 2.89993219e-01 5.90237042e-02 2.13537331e+02] [-2.89557347e-01 9.57026987e-01 -1.59965267e-02 -4.36439651e+01] [-6.11261620e-02 -1.81075525e-03 9.98128405e-01 -1.43560924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09264000000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:213.57, Y:-43.65, Z:-14.36 [[ 9.56142608e-01 2.87013632e-01 5.84336222e-02 2.13566087e+02] [-2.86581141e-01 9.57925148e-01 -1.58322613e-02 -4.36467746e+01] [-6.05191110e-02 -1.60807448e-03 9.98165743e-01 -1.43568213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:-43.65, Z:-14.36 [[ 9.56576801e-01 2.85398156e-01 5.92344172e-02 2.13593122e+02] [-2.84950924e-01 9.58407819e-01 -1.60443970e-02 -4.36521052e+01] [-6.13497700e-02 -1.53120395e-03 9.98115154e-01 -1.43604605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:-43.66, Z:-14.36 [[ 9.57096066e-01 2.83582736e-01 5.95646997e-02 2.13621674e+02] [-2.83127234e-01 9.58946712e-01 -1.61298605e-02 -4.36569909e+01] [-6.16935229e-02 -1.42656266e-03 9.98094121e-01 -1.43623797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:-43.66, Z:-14.36 [[ 9.58139425e-01 2.80018306e-01 5.96539310e-02 2.13651063e+02] [-2.79554725e-01 9.59993908e-01 -1.61508993e-02 -4.36601999e+01] [-6.17899579e-02 -1.20172488e-03 9.98088451e-01 -1.43645364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:-43.67, Z:-14.37 [[ 9.58377811e-01 2.78230722e-01 6.40283983e-02 2.13676149e+02] [-2.78298476e-01 9.60461007e-01 -8.03823768e-03 -4.36708486e+01] [-6.37332646e-02 -1.01153370e-02 9.97915703e-01 -1.43678693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:-43.67, Z:-14.37 [[ 9.58959291e-01 2.77736345e-01 5.70929109e-02 2.13707733e+02] [-2.76734677e-01 9.60623218e-01 -2.49188893e-02 -4.36668130e+01] [-6.17656570e-02 8.09661217e-03 9.98057838e-01 -1.43686476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:-43.68, Z:-14.37 [[ 9.59369862e-01 2.75803932e-01 5.95118344e-02 2.13733900e+02] [-2.75335342e-01 9.61213454e-01 -1.60979873e-02 -4.36773546e+01] [-6.16434640e-02 -9.41787448e-04 9.98097789e-01 -1.43706509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264000000003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:213.76, Y:-43.68, Z:-14.37 [[ 9.60016669e-01 2.73580874e-01 5.93422303e-02 2.13762155e+02] [-2.73110982e-01 9.61848670e-01 -1.60476772e-02 -4.36801090e+01] [-6.14685828e-02 -8.00977176e-04 9.98108697e-01 -1.43714198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:-43.69, Z:-14.37 [[ 9.60357408e-01 2.72376309e-01 5.93699800e-02 2.13789208e+02] [-2.71903975e-01 9.62190530e-01 -1.60503375e-02 -4.36853886e+01] [-6.14969642e-02 -7.28873055e-04 9.98107004e-01 -1.43739388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:-43.69, Z:-14.38 [[ 9.60703664e-01 2.71088529e-01 5.96613706e-02 2.13816894e+02] [-2.70609296e-01 9.62554197e-01 -1.61253235e-02 -4.36900764e+01] [-6.17986929e-02 -6.53264151e-04 9.98088420e-01 -1.43761076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-43.69, Z:-14.38 [[ 9.61639163e-01 2.67689721e-01 5.99360727e-02 2.13844913e+02] [-2.67199745e-01 9.63505069e-01 -1.61949915e-02 -4.36939869e+01] [-6.20839427e-02 -4.41165257e-04 9.98070834e-01 -1.43781739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:-43.70, Z:-14.38 [[ 9.62063787e-01 2.66184065e-01 5.98273622e-02 2.13870504e+02] [-2.65693249e-01 9.63922156e-01 -1.61609104e-02 -4.37010141e+01] [-6.19706967e-02 -3.47899571e-04 9.98077909e-01 -1.43803348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:213.90, Y:-43.71, Z:-14.38 [[ 9.63020953e-01 2.62814567e-01 5.93224071e-02 2.13898180e+02] [-2.62325899e-01 9.64846353e-01 -1.60198991e-02 -4.37073870e+01] [-6.14472711e-02 -1.34305252e-04 9.98110322e-01 -1.43814831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-43.72, Z:-14.39 [[ 9.64406558e-01 2.57622650e-01 5.95865798e-02 2.13924389e+02] [-2.57120007e-01 9.66245586e-01 -1.60862954e-02 -4.37152948e+01] [-6.17194637e-02 1.92826977e-04 9.98093518e-01 -1.43850413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-43.72, Z:-14.39 [[ 9.65052457e-01 2.55142541e-01 5.97999876e-02 2.13951809e+02] [-2.54631781e-01 9.66903388e-01 -1.61398221e-02 -4.37225763e+01] [-6.19387659e-02 3.48797620e-04 9.98079890e-01 -1.43866271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-43.73, Z:-14.39 [[ 9.66121033e-01 2.51139954e-01 5.94884241e-02 2.13979411e+02] [-2.50627107e-01 9.67950600e-01 -1.60527031e-02 -4.37313247e+01] [-6.16133309e-02 5.99442475e-04 9.98099914e-01 -1.43888035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-43.74, Z:-14.39 [[ 9.66525902e-01 2.49534587e-01 5.96671686e-02 2.14007066e+02] [-2.49015786e-01 9.68365633e-01 -1.60978184e-02 -4.37403706e+01] [-6.17965979e-02 7.00891582e-04 9.98088518e-01 -1.43907475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:-43.75, Z:-14.39 [[ 9.66803279e-01 2.48388482e-01 5.99548286e-02 2.14034338e+02] [-2.47862665e-01 9.68660189e-01 -1.61721206e-02 -4.37492410e+01] [-6.20928241e-02 7.74695624e-04 9.98070078e-01 -1.43929272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-43.76, Z:-14.39 [[ 9.66997963e-01 2.47687170e-01 5.97160360e-02 2.14061737e+02] [-2.47164345e-01 9.68839720e-01 -1.61053949e-02 -4.37581187e+01] [-6.18443673e-02 8.14209097e-04 9.98085473e-01 -1.43943496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-43.77, Z:-14.40 [[ 9.67059264e-01 2.47477363e-01 5.95930673e-02 2.14090821e+02] [-2.46956465e-01 9.68893326e-01 -1.60694645e-02 -4.37689419e+01] [-6.17161539e-02 8.23231321e-04 9.98093402e-01 -1.43965470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-43.78, Z:-14.40 [[ 9.66947648e-01 2.47823824e-01 5.99633112e-02 2.14118737e+02] [-2.47297102e-01 9.68804780e-01 -1.61691240e-02 -4.37784922e+01] [-6.20998367e-02 8.05943302e-04 9.98069617e-01 -1.43983196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-43.79, Z:-14.40 [[ 9.66818247e-01 2.48411600e-01 5.96167341e-02 2.14147520e+02] [-2.47892007e-01 9.68654269e-01 -1.60767229e-02 -4.37881492e+01] [-6.17416485e-02 7.64757225e-04 9.98091872e-01 -1.44001172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-43.80, Z:-14.40 [[ 9.66180494e-01 2.51164710e-01 5.84083958e-02 2.14175777e+02] [-2.50670987e-01 9.67944190e-01 -1.57512302e-02 -4.37983116e+01] [-6.04922206e-02 5.77241165e-04 9.98168502e-01 -1.44018187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-43.81, Z:-14.40 [[ 9.65585896e-01 2.53386118e-01 5.86460025e-02 2.14202592e+02] [-2.52892539e-01 9.67365124e-01 -1.58139377e-02 -4.38068255e+01] [-6.07391297e-02 4.38578696e-04 9.98153578e-01 -1.44042908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-43.81, Z:-14.41 [[ 9.64969158e-01 2.55747669e-01 5.85461678e-02 2.14230811e+02] [-2.55260260e-01 9.66743527e-01 -1.57845627e-02 -4.38146702e+01] [-6.06359939e-02 2.87106206e-04 9.98159904e-01 -1.44055662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-43.82, Z:-14.41 [[ 9.63290289e-01 2.61891728e-01 5.90300059e-02 2.14257996e+02] [-2.61407792e-01 9.65097256e-01 -1.59139481e-02 -4.38212270e+01] [-6.11374280e-02 -1.01151836e-04 9.98129353e-01 -1.44078676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-43.83, Z:-14.41 [[ 9.62458842e-01 2.64878710e-01 5.92642034e-02 2.14285469e+02] [-2.64396809e-01 9.64281692e-01 -1.59732802e-02 -4.38282011e+01] [-6.13783682e-02 -2.95641479e-04 9.98114527e-01 -1.44099367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-43.84, Z:-14.41 [[ 9.61783357e-01 2.67348873e-01 5.91384379e-02 2.14313384e+02] [-2.66873971e-01 9.63599695e-01 -1.59346291e-02 -4.38357014e+01] [-6.12458858e-02 -4.56848686e-04 9.98122604e-01 -1.44118932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-43.84, Z:-14.41 [[ 9.60650616e-01 2.71235199e-01 5.98486520e-02 2.14339805e+02] [-2.70756484e-01 9.62512834e-01 -1.61236217e-02 -4.38424588e+01] [-6.19783894e-02 -7.15243463e-04 9.98077235e-01 -1.44139333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-43.85, Z:-14.42 [[ 9.60406624e-01 2.72137310e-01 5.96690989e-02 2.14368212e+02] [-2.71663652e-01 9.62258115e-01 -1.60680088e-02 -4.38492696e+01] [-6.17897793e-02 -7.78103223e-04 9.98088883e-01 -1.44160852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-43.86, Z:-14.42 [[ 9.60242155e-01 2.72808780e-01 5.92484087e-02 2.14394723e+02] [-2.72343242e-01 9.62067929e-01 -1.59517625e-02 -4.38560523e+01] [-6.13527747e-02 -8.18348925e-04 9.98115809e-01 -1.44182551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-43.86, Z:-14.42 [[ 9.60239425e-01 2.72901125e-01 5.88661413e-02 2.14422854e+02] [-2.72441998e-01 9.62041735e-01 -1.58448217e-02 -4.38627274e+01] [-6.09557544e-02 -8.22786709e-04 9.98140130e-01 -1.44206243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-43.87, Z:-14.42 [[ 9.60230603e-01 2.71766585e-01 6.40321272e-02 2.14447581e+02] [-2.71914281e-01 9.62299088e-01 -6.56424036e-03 -4.38746663e+01] [-6.34019988e-02 -1.11080654e-02 9.97926249e-01 -1.44236846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:-43.88, Z:-14.43 [[ 9.60422093e-01 2.70899279e-01 6.48304278e-02 2.14475145e+02] [-2.70851812e-01 9.62572303e-01 -9.68801658e-03 -4.38806754e+01] [-6.50284509e-02 -8.25485371e-03 9.97849266e-01 -1.44271889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-43.88, Z:-14.43 [[ 9.61491939e-01 2.69538092e-01 5.36886288e-02 2.14506290e+02] [-2.68105626e-01 9.62843270e-01 -3.24377918e-02 -4.38775982e+01] [-6.04369555e-02 1.67944519e-02 9.98030721e-01 -1.44279895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:-43.89, Z:-14.43 [[ 9.62000139e-01 2.66758134e-01 5.82737598e-02 2.14530131e+02] [-2.66297297e-01 9.63763409e-01 -1.56793046e-02 -4.38948924e+01] [-6.03446994e-02 -4.34651528e-04 9.98177503e-01 -1.44299264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:-43.90, Z:-14.43 [[ 9.62420277e-01 2.65286653e-01 5.80534341e-02 2.14556687e+02] [-2.64826852e-01 9.64169525e-01 -1.56161984e-02 -4.39019575e+01] [-6.01161210e-02 -3.44762251e-04 9.98191331e-01 -1.44317053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:-43.91, Z:-14.43 [[ 9.62850778e-01 2.63757416e-01 5.78826892e-02 2.14583981e+02] [-2.63297761e-01 9.64589012e-01 -1.55668513e-02 -4.39096613e+01] [-5.99388785e-02 -2.51827626e-04 9.98202017e-01 -1.44341750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:-43.92, Z:-14.44 [[ 9.63521699e-01 2.61109953e-01 5.87156555e-02 2.14611504e+02] [-2.60632341e-01 9.65309061e-01 -1.57860470e-02 -4.39190046e+01] [-6.08006483e-02 -9.29999136e-05 9.98149925e-01 -1.44352834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:-43.93, Z:-14.44 [[ 9.63830996e-01 2.59849458e-01 5.92289658e-02 2.14640245e+02] [-2.59361277e-01 9.65649139e-01 -1.59207080e-02 -4.39273792e+01] [-6.13313872e-02 -1.68284221e-05 9.98117458e-01 -1.44373424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-43.94, Z:-14.44 [[ 9.64116887e-01 2.58695082e-01 5.96278738e-02 2.14667949e+02] [-2.58198179e-01 9.65959032e-01 -1.60265045e-02 -4.39354455e+01] [-6.17440612e-02 5.56151487e-05 9.98092014e-01 -1.44396618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:-43.94, Z:-14.44 [[ 9.64437368e-01 2.57590413e-01 5.92261925e-02 2.14696056e+02] [-2.57098262e-01 9.66254192e-01 -1.59160232e-02 -4.39440933e+01] [-6.13273718e-02 1.23056319e-04 9.98117698e-01 -1.44419605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-43.96, Z:-14.44 [[ 9.64896861e-01 2.55750536e-01 5.97135751e-02 2.14722147e+02] [-2.55246809e-01 9.66742781e-01 -1.60456029e-02 -4.39556740e+01] [-6.18313392e-02 2.40652400e-04 9.98086583e-01 -1.44442302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-43.97, Z:-14.45 [[ 9.65069154e-01 2.55076475e-01 5.98123773e-02 2.14751013e+02] [-2.54569958e-01 9.66920841e-01 -1.60693546e-02 -4.39653484e+01] [-6.19327485e-02 2.81604060e-04 9.98080285e-01 -1.44465579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-43.97, Z:-14.45 [[ 9.65271806e-01 2.54435271e-01 5.92708480e-02 2.14780432e+02] [-2.53936707e-01 9.67089753e-01 -1.59235121e-02 -4.39743387e+01] [-6.13717329e-02 3.19473358e-04 9.98114927e-01 -1.44489196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-43.98, Z:-14.45 [[ 9.65294886e-01 2.54298617e-01 5.94810518e-02 2.14809424e+02] [-2.53796139e-01 9.67125692e-01 -1.59817540e-02 -4.39842860e+01] [-6.15897913e-02 3.31044189e-04 9.98101492e-01 -1.44515007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-43.99, Z:-14.45 [[ 9.65135095e-01 2.54803345e-01 5.99124637e-02 2.14838068e+02] [-2.54294465e-01 9.66992846e-01 -1.60984743e-02 -4.39943187e+01] [-6.20368689e-02 3.01794562e-04 9.98073813e-01 -1.44537548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-44.00, Z:-14.46 [[ 9.65009059e-01 2.55243868e-01 6.00673340e-02 2.14864704e+02] [-2.54733114e-01 9.66876668e-01 -1.61415095e-02 -4.40037079e+01] [-6.21977251e-02 2.75563833e-04 9.98063809e-01 -1.44556866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-44.01, Z:-14.46 [[ 9.64515169e-01 2.57306254e-01 5.91944266e-02 2.14894304e+02] [-2.56814318e-01 9.66329899e-01 -1.59038698e-02 -4.40139410e+01] [-6.12935095e-02 1.37547356e-04 9.98119776e-01 -1.44582451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.92, Y:-44.02, Z:-14.46 [[ 9.64244754e-01 2.58530043e-01 5.82603724e-02 2.14922361e+02] [-2.58055655e-01 9.66003216e-01 -1.56545791e-02 -4.40217431e+01] [-6.03268861e-02 6.04272709e-05 9.98178673e-01 -1.44587334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-44.03, Z:-14.46 [[ 9.63470398e-01 2.61256717e-01 5.89043367e-02 2.14949517e+02] [-2.60776764e-01 9.65269349e-01 -1.58292098e-02 -4.40318933e+01] [-6.09940381e-02 -1.09907227e-04 9.98138124e-01 -1.44631573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-44.05, Z:-14.47 [[ 9.63018437e-01 2.61807577e-01 6.36575468e-02 2.14976304e+02] [-2.61877125e-01 9.65072874e-01 -7.39724781e-03 -4.40450858e+01] [-6.33708272e-02 -9.54676933e-03 9.97944386e-01 -1.44659116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-44.04, Z:-14.47 [[ 9.62913504e-01 2.63887101e-01 5.62243832e-02 2.15008421e+02] [-2.62890991e-01 9.64512755e-01 -2.45656763e-02 -4.40425056e+01] [-6.07116999e-02 8.87373760e-03 9.98115898e-01 -1.44675209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.03, Y:-44.05, Z:-14.47 [[ 9.62767527e-01 2.63914534e-01 5.85474873e-02 2.15034945e+02] [-2.63445397e-01 9.64546029e-01 -1.57315368e-02 -4.40542438e+01] [-6.06235276e-02 -2.78253292e-04 9.98160664e-01 -1.44698656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-44.06, Z:-14.47 [[ 9.62635547e-01 2.64303542e-01 5.89613535e-02 2.15063049e+02] [-2.63828625e-01 9.64439497e-01 -1.58402487e-02 -4.40625056e+01] [-6.10512920e-02 -3.07306320e-04 9.98134583e-01 -1.44728758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-44.08, Z:-14.47 [[ 9.62890981e-01 2.63278276e-01 5.93759835e-02 2.15092153e+02] [-2.63369943e-01 9.64673565e-01 -6.41758075e-03 -4.40766493e+01] [-5.89680513e-02 -9.45841877e-03 9.98215061e-01 -1.44689613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-44.07, Z:-14.48 [[ 9.62806825e-01 2.64110134e-01 5.69987210e-02 2.15122639e+02] [-2.63088191e-01 9.64450915e-01 -2.48804576e-02 -4.40747336e+01] [-6.15436496e-02 8.95938406e-03 9.98064181e-01 -1.44772576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-44.09, Z:-14.48 [[ 9.63300264e-01 2.61564212e-01 6.03055979e-02 2.15149362e+02] [-2.61061578e-01 9.65186068e-01 -1.62082208e-02 -4.40881269e+01] [-6.24456134e-02 -1.30091163e-04 9.98048360e-01 -1.44789302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-44.10, Z:-14.48 [[ 9.63303344e-01 2.61552771e-01 6.03060183e-02 2.15178421e+02] [-2.61050212e-01 9.65189169e-01 -1.62066566e-02 -4.40958961e+01] [-6.24456116e-02 -1.30972383e-04 9.98048360e-01 -1.44812048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-44.10, Z:-14.48 [[ 9.63558119e-01 2.60517135e-01 6.07171582e-02 2.15206758e+02] [-2.60005679e-01 9.65469222e-01 -1.63165255e-02 -4.41044747e+01] [-6.28712820e-02 -6.48852861e-05 9.98021642e-01 -1.44832370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-44.11, Z:-14.49 [[ 9.63853122e-01 2.59286279e-01 6.13007699e-02 2.15236064e+02] [-2.58762563e-01 9.65800510e-01 -1.64715022e-02 -4.41136733e+01] [-6.34751493e-02 1.37645373e-05 9.97983419e-01 -1.44850571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-44.12, Z:-14.49 [[ 9.64223364e-01 2.57842283e-01 6.15683476e-02 2.15267881e+02] [-2.57311190e-01 9.66187014e-01 -1.65410302e-02 -4.41234941e+01] [-6.37515149e-02 1.07022979e-04 9.97965797e-01 -1.44868614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95264000000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:215.30, Y:-44.13, Z:-14.49 [[ 9.65152320e-01 2.54669317e-01 6.02041319e-02 2.15297882e+02] [-2.54154516e-01 9.67028146e-01 -1.61878657e-02 -4.41333784e+01] [-6.23416427e-02 3.22604173e-04 9.98054816e-01 -1.44878624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:-44.14, Z:-14.49 [[ 9.65582219e-01 2.52928362e-01 6.06483432e-02 2.15329069e+02] [-2.52402050e-01 9.67484907e-01 -1.63144054e-02 -4.41442124e+01] [-6.28027325e-02 4.45133659e-04 9.98025861e-01 -1.44925190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-44.16, Z:-14.50 [[ 9.65957953e-01 2.51515685e-01 6.05400107e-02 2.15360627e+02] [-2.50987689e-01 9.67853067e-01 -1.62978659e-02 -4.41551591e+01] [-6.26930039e-02 5.48255799e-04 9.98032708e-01 -1.44956774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.39, Y:-44.17, Z:-14.50 [[ 9.66520265e-01 2.49422047e-01 6.02264083e-02 2.15389696e+02] [-2.48894593e-01 9.68394631e-01 -1.62271524e-02 -4.41686080e+01] [-6.23703399e-02 6.93844203e-04 9.98052834e-01 -1.44982612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:-44.18, Z:-14.50 [[ 9.66573028e-01 2.49292798e-01 5.99139618e-02 2.15420551e+02] [-2.48770128e-01 9.68427903e-01 -1.61499243e-02 -4.41794964e+01] [-6.20484122e-02 7.05277312e-04 9.98072892e-01 -1.45009167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:-44.19, Z:-14.50 [[ 9.66343834e-01 2.50368203e-01 5.91215418e-02 2.15450908e+02] [-2.49860571e-01 9.68150481e-01 -1.59480528e-02 -4.41915316e+01] [-6.12314345e-02 6.39160316e-04 9.98123391e-01 -1.45032568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.48, Y:-44.20, Z:-14.51 [[ 9.65690584e-01 2.52240676e-01 6.17765188e-02 2.15479784e+02] [-2.52035360e-01 9.67652955e-01 -1.12220898e-02 -4.42046182e+01] [-6.26088985e-02 -4.73280075e-03 9.98026917e-01 -1.45060732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-44.21, Z:-14.51 [[ 9.65304501e-01 2.54687138e-01 5.76340408e-02 2.15512927e+02] [-2.53892217e-01 9.67007947e-01 -2.08416168e-02 -4.42092772e+01] [-6.10406672e-02 5.48567208e-03 9.98120205e-01 -1.45082479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-44.22, Z:-14.51 [[ 9.64631382e-01 2.56970462e-01 5.87577995e-02 2.15543140e+02] [-2.56479603e-01 9.66419227e-01 -1.58773932e-02 -4.42221890e+01] [-6.08646882e-02 2.45654644e-04 9.98145996e-01 -1.45101749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.57, Y:-44.23, Z:-14.51 [[ 9.63066862e-01 2.63086380e-01 5.73391336e-02 2.15573360e+02] [-2.62629071e-01 9.64772274e-01 -1.55058222e-02 -4.42317437e+01] [-5.93985770e-02 -1.25779838e-04 9.98234338e-01 -1.45095323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:-44.25, Z:-14.51 [[ 9.62313354e-01 2.65452035e-01 5.90612010e-02 2.15602166e+02] [-2.65631341e-01 9.64062035e-01 -4.93797588e-03 -4.42467668e+01] [-5.82494573e-02 -1.09366259e-02 9.98242150e-01 -1.45082222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:-44.25, Z:-14.52 [[ 9.60406053e-01 2.73039925e-01 5.54022818e-02 2.15635544e+02] [-2.71977325e-01 9.61951377e-01 -2.60361682e-02 -4.42454117e+01] [-6.04032148e-02 9.93712915e-03 9.98124594e-01 -1.45178460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:-44.26, Z:-14.52 [[ 9.59712777e-01 2.74863699e-01 5.83209498e-02 2.15662709e+02] [-2.74410501e-01 9.61482834e-01 -1.57998978e-02 -4.42594982e+01] [-6.04174105e-02 -8.40517302e-04 9.98172846e-01 -1.45194309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:-44.27, Z:-14.52 [[ 9.59074825e-01 2.77044910e-01 5.84944313e-02 2.15692999e+02] [-2.76593024e-01 9.60856470e-01 -1.58474635e-02 -4.42679184e+01] [-6.05952119e-02 -9.80248329e-04 9.98161940e-01 -1.45214153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.72, Y:-44.28, Z:-14.52 [[ 9.58631570e-01 2.78404616e-01 5.92990920e-02 2.15722059e+02] [-2.78513150e-01 9.60409780e-01 -6.59398987e-03 -4.42808850e+01] [-5.87872251e-02 -1.01943700e-02 9.98218482e-01 -1.45178839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:-44.28, Z:-14.53 [[ 9.57670730e-01 2.82397051e-01 5.58451224e-02 2.15753769e+02] [-2.81433288e-01 9.59265617e-01 -2.45922882e-02 -4.42801494e+01] [-6.05150954e-02 7.83463824e-03 9.98136535e-01 -1.45267685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:-44.29, Z:-14.53 [[ 9.57407185e-01 2.82800886e-01 5.82678450e-02 2.15782930e+02] [-2.82362409e-01 9.59177719e-01 -1.57978975e-02 -4.42935711e+01] [-6.03568780e-02 -1.32762847e-03 9.98175979e-01 -1.45285238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:-44.30, Z:-14.53 [[ 9.57090278e-01 2.83632349e-01 5.94212886e-02 2.15812383e+02] [-2.83177860e-01 9.58932069e-01 -1.61117069e-02 -4.43015925e+01] [-6.15507804e-02 -1.40643533e-03 9.98102962e-01 -1.45308230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:-44.31, Z:-14.53 [[ 9.57105838e-01 2.83491312e-01 5.98422130e-02 2.15842176e+02] [-2.83029823e-01 9.58973778e-01 -1.62299896e-02 -4.43105841e+01] [-6.19881741e-02 -1.40331317e-03 9.98075897e-01 -1.45332720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:-44.32, Z:-14.54 [[ 9.57211431e-01 2.83072701e-01 6.01342067e-02 2.15872089e+02] [-2.82605773e-01 9.59097460e-01 -1.63107126e-02 -4.43197715e+01] [-6.22916823e-02 -1.38147340e-03 9.98057031e-01 -1.45355595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.90, Y:-44.33, Z:-14.54 [[ 9.57395897e-01 2.82503503e-01 5.98737677e-02 2.15901332e+02] [-2.82039399e-01 9.59265335e-01 -1.62417380e-02 -4.43281737e+01] [-6.20231777e-02 -1.33698816e-03 9.98073814e-01 -1.45378788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:-44.34, Z:-14.54 [[ 9.57791350e-01 2.81214312e-01 5.96174537e-02 2.15931374e+02] [-2.80751646e-01 9.59644181e-01 -1.61727911e-02 -4.43358778e+01] [-6.17595629e-02 -1.24753881e-03 9.98090277e-01 -1.45406322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:-44.34, Z:-14.54 [[ 9.58051525e-01 2.80406960e-01 5.92386045e-02 2.15960955e+02] [-2.79948528e-01 9.59880476e-01 -1.60714801e-02 -4.43446798e+01] [-6.13685348e-02 -1.18645416e-03 9.98114470e-01 -1.45431144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.99, Y:-44.35, Z:-14.54 [[ 9.58287830e-01 2.79679460e-01 5.88543554e-02 2.15991198e+02] [-2.79225501e-01 9.60092767e-01 -1.59686935e-02 -4.43533635e+01] [-6.09717564e-02 -1.13103222e-03 9.98138851e-01 -1.45446140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.02, Y:-44.36, Z:-14.55 [[ 9.58415948e-01 2.79248803e-01 5.88130604e-02 2.16021418e+02] [-2.78794582e-01 9.60218149e-01 -1.59589588e-02 -4.43618757e+01] [-6.09298881e-02 -1.10144189e-03 9.98141441e-01 -1.45458414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.05, Y:-44.37, Z:-14.55 [[ 9.58251432e-01 2.79668060e-01 5.94976346e-02 2.16051247e+02] [-2.79203898e-01 9.60096077e-01 -1.61464071e-02 -4.43693693e+01] [-6.16390799e-02 -1.13965376e-03 9.98097853e-01 -1.45478349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:-44.38, Z:-14.55 [[ 9.57981933e-01 2.80405391e-01 6.03608510e-02 2.16081145e+02] [-2.79929073e-01 9.59880913e-01 -1.63812786e-02 -4.43768140e+01] [-6.25326276e-02 -1.20378814e-03 9.98042194e-01 -1.45507247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.11, Y:-44.39, Z:-14.55 [[ 9.57248522e-01 2.81681861e-01 6.58072685e-02 2.16107501e+02] [-2.81868104e-01 9.59430258e-01 -6.62957730e-03 -4.43889457e+01] [-6.50049163e-02 -1.22028170e-02 9.97810329e-01 -1.45519575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.14, Y:-44.38, Z:-14.56 [[ 9.56506748e-01 2.85957830e-01 5.76451268e-02 2.16140894e+02] [-2.84837681e-01 9.58196335e-01 -2.69681199e-02 -4.43811149e+01] [-6.29470942e-02 9.37568447e-03 9.97972825e-01 -1.45560981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:-44.39, Z:-14.56 [[ 9.56169035e-01 2.86527618e-01 6.03547927e-02 2.16167802e+02] [-2.86063862e-01 9.58070633e-01 -1.63746624e-02 -4.43927783e+01] [-6.25159474e-02 -1.60837994e-03 9.98042669e-01 -1.45580434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:-44.40, Z:-14.56 [[ 9.55653675e-01 2.87428239e-01 6.41175500e-02 2.16192513e+02] [-2.87425496e-01 9.57756219e-01 -9.46623878e-03 -4.44023536e+01] [-6.41298466e-02 -9.38257272e-03 9.97897455e-01 -1.45606958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:-44.40, Z:-14.56 [[ 9.55810527e-01 2.88517370e-01 5.64266267e-02 2.16224226e+02] [-2.87650259e-01 9.57456770e-01 -2.31054747e-02 -4.43970289e+01] [-6.06923865e-02 5.85332221e-03 9.98139355e-01 -1.45632016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:-44.42, Z:-14.57 [[ 9.55650118e-01 2.86596879e-01 6.77870245e-02 2.16245085e+02] [-2.87353221e-01 9.57823551e-01 1.47372476e-03 -4.44161407e+01] [-6.45056436e-02 -2.08871851e-02 9.97698726e-01 -1.45667215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:-44.40, Z:-14.57 [[ 9.56376336e-01 2.87315972e-01 5.28567481e-02 2.16280845e+02] [-2.85836673e-01 9.57680187e-01 -3.38534583e-02 -4.44008889e+01] [-6.03464997e-02 1.72682494e-02 9.98028110e-01 -1.45685233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:-44.42, Z:-14.57 [[ 9.57485060e-01 2.82577317e-01 5.80725310e-02 2.16306141e+02] [-2.82141842e-01 9.59243622e-01 -1.57370544e-02 -4.44150523e+01] [-6.01526395e-02 -1.31669638e-03 9.98188322e-01 -1.45694965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-44.42, Z:-14.57 [[ 9.58123777e-01 2.80348985e-01 5.83375949e-02 2.16333175e+02] [-2.79905603e-01 9.59897412e-01 -1.58054554e-02 -4.44202487e+01] [-6.04291497e-02 -1.18543707e-03 9.98171785e-01 -1.45714494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:-44.43, Z:-14.57 [[ 9.58715193e-01 2.78196094e-01 5.89246218e-02 2.16361375e+02] [-2.77739894e-01 9.60523712e-01 -1.59608858e-02 -4.44265663e+01] [-6.10387526e-02 -1.06377454e-03 9.98134830e-01 -1.45737476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:216.39, Y:-44.43, Z:-14.57 [[ 9.59510372e-01 2.75498105e-01 5.86569699e-02 2.16390696e+02] [-2.75041186e-01 9.61301202e-01 -1.58853931e-02 -4.44328192e+01] [-6.07634113e-02 -8.90883156e-04 9.98151799e-01 -1.45737660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:-44.44, Z:-14.58 [[ 9.61030050e-01 2.69950513e-01 5.95647915e-02 2.16420105e+02] [-2.69468776e-01 9.62874041e-01 -1.61294923e-02 -4.44381216e+01] [-6.17075562e-02 -5.49924656e-04 9.98094121e-01 -1.45769664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:-44.45, Z:-14.58 [[ 9.61761997e-01 2.67345659e-01 5.94992411e-02 2.16449512e+02] [-2.66860058e-01 9.63600618e-01 -1.61108004e-02 -4.44450636e+01] [-6.16406581e-02 -3.83215376e-04 9.98098333e-01 -1.45789325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:-44.45, Z:-14.58 [[ 9.62441604e-01 2.64809332e-01 5.98512944e-02 2.16478895e+02] [-2.64313069e-01 9.64300767e-01 -1.62059620e-02 -4.44521522e+01] [-6.20061390e-02 -2.22187271e-04 9.98075743e-01 -1.45810406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:-44.46, Z:-14.58 [[ 9.63664962e-01 2.60389265e-01 5.95589735e-02 2.16508310e+02] [-2.59889350e-01 9.65503717e-01 -1.61275829e-02 -4.44577361e+01] [-6.17038597e-02 6.28436452e-05 9.98094499e-01 -1.45824573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:-44.46, Z:-14.58 [[ 9.64199725e-01 2.58457473e-01 5.93179998e-02 2.16536730e+02] [-2.57957867e-01 9.66022619e-01 -1.60636022e-02 -4.44642410e+01] [-6.14542875e-02 1.86976148e-04 9.98109882e-01 -1.45846065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.57, Y:-44.47, Z:-14.59 [[ 9.64728032e-01 2.56513081e-01 5.91680897e-02 2.16567419e+02] [-2.56012479e-01 9.66540710e-01 -1.60208068e-02 -4.44719288e+01] [-6.12979140e-02 3.07952120e-04 9.98119467e-01 -1.45864404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:-44.48, Z:-14.59 [[ 9.65145542e-01 2.54876370e-01 5.94316351e-02 2.16598599e+02] [-2.54368223e-01 9.66973560e-01 -1.60916717e-02 -4.44806273e+01] [-6.15702066e-02 4.13285793e-04 9.98102670e-01 -1.45890748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.63, Y:-44.49, Z:-14.59 [[ 9.65910336e-01 2.51983813e-01 5.93412268e-02 2.16629362e+02] [-2.51471038e-01 9.67731258e-01 -1.60788396e-02 -4.44895675e+01] [-6.14779674e-02 6.08117480e-04 9.98108256e-01 -1.45911960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:-44.50, Z:-14.59 [[ 9.66152998e-01 2.50940847e-01 5.98086550e-02 2.16659854e+02] [-2.50417514e-01 9.68002180e-01 -1.62126136e-02 -4.44981941e+01] [-6.19633153e-02 6.86730550e-04 9.98078191e-01 -1.45929703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:-44.51, Z:-14.60 [[ 9.66387113e-01 2.49878288e-01 6.04713855e-02 2.16691766e+02] [-2.49340466e-01 9.68276944e-01 -1.64039982e-02 -4.45077077e+01] [-6.26520514e-02 7.74649063e-04 9.98035130e-01 -1.45954031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:-44.52, Z:-14.60 [[ 9.66873280e-01 2.48041768e-01 6.02606209e-02 2.16722293e+02] [-2.47503331e-01 9.68748918e-01 -1.63595640e-02 -4.45183991e+01] [-6.24352665e-02 9.02920847e-04 9.98048607e-01 -1.45972521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.75, Y:-44.53, Z:-14.60 [[ 9.66967476e-01 2.46834094e-01 6.36146963e-02 2.16750819e+02] [-2.46703579e-01 9.69039162e-01 -1.00223069e-02 -4.45312076e+01] [-6.41189790e-02 -6.00272842e-03 9.97924207e-01 -1.46000013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45264000000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.78, Y:-44.54, Z:-14.60 [[ 9.67522766e-01 2.45534182e-01 6.01054349e-02 2.16782530e+02] [-2.44885009e-01 9.69384039e-01 -1.80532036e-02 -4.45380065e+01] [-6.26979278e-02 2.74796546e-03 9.98028766e-01 -1.46035470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:-44.55, Z:-14.61 [[ 9.67627506e-01 2.44836287e-01 6.12552272e-02 2.16812038e+02] [-2.44402229e-01 9.69564065e-01 -1.45970598e-02 -4.45506767e+01] [-6.29647570e-02 -8.46397509e-04 9.98015392e-01 -1.46068782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:-44.56, Z:-14.61 [[ 9.67847139e-01 2.45015706e-01 5.69141382e-02 2.16844584e+02] [-2.44068933e-01 9.69481825e-01 -2.31375765e-02 -4.45558612e+01] [-6.08462922e-02 8.50266425e-03 9.98110932e-01 -1.46089797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:-44.57, Z:-14.61 [[ 9.67755188e-01 2.44951055e-01 5.87271398e-02 2.16874886e+02] [-2.44430905e-01 9.69534795e-01 -1.59942194e-02 -4.45707630e+01] [-6.08558063e-02 1.12376088e-03 9.98145935e-01 -1.46108111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:-44.58, Z:-14.61 [[ 9.67565776e-01 2.45868939e-01 5.80080562e-02 2.16906354e+02] [-2.45362403e-01 9.69302498e-01 -1.58101054e-02 -4.45802543e+01] [-6.01145676e-02 1.06432083e-03 9.98190917e-01 -1.46135074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.94, Y:-44.59, Z:-14.62 [[ 9.67354801e-01 2.46896161e-01 5.71574510e-02 2.16937230e+02] [-2.46405399e-01 9.69041428e-01 -1.55913636e-02 -4.45891478e+01] [-5.92373857e-02 9.98475951e-04 9.98243425e-01 -1.46152180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:-44.60, Z:-14.62 [[ 9.66961723e-01 2.48433186e-01 5.71487322e-02 2.16967903e+02] [-2.47944868e-01 9.68648607e-01 -1.55954952e-02 -4.45992543e+01] [-5.92314784e-02 9.10512047e-04 9.98243859e-01 -1.46185284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:-44.61, Z:-14.62 [[ 9.65924189e-01 2.52481602e-01 5.69517554e-02 2.16998695e+02] [-2.52003032e-01 9.67601463e-01 -1.55525210e-02 -4.46110470e+01] [-5.90333273e-02 6.70541208e-04 9.98255787e-01 -1.46209676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.03, Y:-44.62, Z:-14.62 [[ 9.65285733e-01 2.54880975e-01 5.70888960e-02 2.17029588e+02] [-2.54403535e-01 9.66972285e-01 -1.56026036e-02 -4.46209574e+01] [-5.91801871e-02 5.37353663e-04 9.98247172e-01 -1.46232511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:-44.63, Z:-14.63 [[ 9.65276711e-01 2.54915945e-01 5.70853088e-02 2.17060195e+02] [-2.54437791e-01 9.66963060e-01 -1.56157168e-02 -4.46293761e+01] [-5.91800801e-02 5.48827908e-04 9.98247172e-01 -1.46256477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:-44.64, Z:-14.63 [[ 9.64606411e-01 2.57319612e-01 5.76288869e-02 2.17091775e+02] [-2.56836607e-01 9.66326267e-01 -1.57640130e-02 -4.46389722e+01] [-5.97446969e-02 4.04860275e-04 9.98213608e-01 -1.46276513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:-44.65, Z:-14.63 [[ 9.63865747e-01 2.59305551e-01 6.10201096e-02 2.17120587e+02] [-2.59143127e-01 9.65779672e-01 -1.06988779e-02 -4.46507550e+01] [-6.17062598e-02 -5.50066004e-03 9.98079195e-01 -1.46297739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:-44.65, Z:-14.63 [[ 9.62932049e-01 2.63490473e-01 5.77463383e-02 2.17152326e+02] [-2.62774525e-01 9.64654162e-01 -1.97964019e-02 -4.46543896e+01] [-6.09214089e-02 3.88832326e-03 9.98134992e-01 -1.46324636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-44.66, Z:-14.63 [[ 9.62565955e-01 2.64789740e-01 5.79066130e-02 2.17183984e+02] [-2.64193452e-01 9.64304313e-01 -1.78609288e-02 -4.46646284e+01] [-6.05689873e-02 1.89377403e-03 9.98162217e-01 -1.46347082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:-44.68, Z:-14.64 [[ 9.62229919e-01 2.65257799e-01 6.12526231e-02 2.17213355e+02] [-2.65114829e-01 9.64158600e-01 -1.05981978e-02 -4.46779962e+01] [-6.18684979e-02 -6.04107567e-03 9.98066027e-01 -1.46377721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.25, Y:-44.68, Z:-14.64 [[ 9.61964374e-01 2.67049812e-01 5.75233893e-02 2.17245572e+02] [-2.66205835e-01 9.63664920e-01 -2.20085466e-02 -4.46833090e+01] [-6.13106505e-02 5.85837592e-03 9.98101540e-01 -1.46401515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:-44.70, Z:-14.64 [[ 9.61892631e-01 2.66588608e-01 6.07707281e-02 2.17274975e+02] [-2.66185615e-01 9.63808428e-01 -1.47828579e-02 -4.46976340e+01] [-6.25122814e-02 -1.95677158e-03 9.98042277e-01 -1.46422458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.31, Y:-44.71, Z:-14.64 [[ 9.61927988e-01 2.66698839e-01 5.97183014e-02 2.17306122e+02] [-2.66076393e-01 9.63778411e-01 -1.82901048e-02 -4.47050475e+01] [-6.24331593e-02 1.70413350e-03 9.98047693e-01 -1.46441842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:-44.72, Z:-14.65 [[ 9.61691225e-01 2.65352251e-01 6.88343654e-02 2.17332826e+02] [-2.65810557e-01 9.64021828e-01 -2.58128954e-03 -4.47228248e+01] [-6.70427818e-02 -1.58144975e-02 9.97624763e-01 -1.46477828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.37, Y:-44.72, Z:-14.65 [[ 9.61946362e-01 2.67085037e-01 5.76609019e-02 2.17368306e+02] [-2.65731560e-01 9.63576144e-01 -3.01289405e-02 -4.47158758e+01] [-6.36076586e-02 1.36601033e-02 9.97881490e-01 -1.46499488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:-44.73, Z:-14.65 [[ 9.62275968e-01 2.65179693e-01 6.08661874e-02 2.17396733e+02] [-2.64572206e-01 9.64198266e-01 -1.79791891e-02 -4.47339416e+01] [-6.34547882e-02 1.19744010e-03 9.97983996e-01 -1.46526637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-44.74, Z:-14.65 [[ 9.62356210e-01 2.64681544e-01 6.17592449e-02 2.17427495e+02] [-2.64134731e-01 9.64335874e-01 -1.70048999e-02 -4.47441478e+01] [-6.40575386e-02 5.20094865e-05 9.97946205e-01 -1.46549907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:-44.75, Z:-14.66 [[ 9.62309596e-01 2.64656096e-01 6.25890680e-02 2.17457441e+02] [-2.64190355e-01 9.64341879e-01 -1.57542345e-02 -4.47542983e+01] [-6.45267137e-02 -1.37497712e-03 9.97915033e-01 -1.46569900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:-44.76, Z:-14.66 [[ 9.62271382e-01 2.64345821e-01 6.44598626e-02 2.17487274e+02] [-2.64003864e-01 9.64421157e-01 -1.39209015e-02 -4.47648055e+01] [-6.58463874e-02 -3.62196767e-03 9.97823198e-01 -1.46600029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:-44.77, Z:-14.66 [[ 9.62255737e-01 2.65509221e-01 5.97390176e-02 2.17519669e+02] [-2.64673117e-01 9.64095276e-01 -2.16434772e-02 -4.47703102e+01] [-6.33406475e-02 5.01524814e-03 9.97979363e-01 -1.46626711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.55, Y:-44.78, Z:-14.66 [[ 9.62133740e-01 2.65326222e-01 6.24552816e-02 2.17549663e+02] [-2.65044623e-01 9.64149814e-01 -1.29028704e-02 -4.47838240e+01] [-6.36397180e-02 -4.13914961e-03 9.97964355e-01 -1.46641775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23264000000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:217.58, Y:-44.79, Z:-14.67 [[ 9.61934311e-01 2.66919785e-01 5.86191997e-02 2.17581965e+02] [-2.66168040e-01 9.63710270e-01 -2.04227934e-02 -4.47883443e+01] [-6.19431723e-02 4.04282824e-03 9.98071490e-01 -1.46659058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:-44.80, Z:-14.67 [[ 9.61589805e-01 2.67445505e-01 6.17895603e-02 2.17610245e+02] [-2.67118284e-01 9.63567063e-01 -1.36505449e-02 -4.48009131e+01] [-6.31891620e-02 -3.37889649e-03 9.97995848e-01 -1.46697711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-44.81, Z:-14.67 [[ 9.61008505e-01 2.70072219e-01 5.93603389e-02 2.17642112e+02] [-2.69366134e-01 9.62835445e-01 -1.97431429e-02 -4.48061341e+01] [-6.24863128e-02 2.98366326e-03 9.98041361e-01 -1.46719828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:-44.82, Z:-14.67 [[ 9.60502459e-01 2.70919833e-01 6.35410986e-02 2.17670744e+02] [-2.70751829e-01 9.62581625e-01 -1.14045088e-02 -4.48184772e+01] [-6.42532015e-02 -6.24980991e-03 9.97914057e-01 -1.46742056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:-44.82, Z:-14.68 [[ 9.59944796e-01 2.73258906e-01 6.19318951e-02 2.17701419e+02] [-2.72680510e-01 9.61940508e-01 -1.77707239e-02 -4.48220036e+01] [-6.44308072e-02 1.71293225e-04 9.97922162e-01 -1.46769491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.73, Y:-44.83, Z:-14.68 [[ 9.58956215e-01 2.76511406e-01 6.28046259e-02 2.17731037e+02] [-2.76236524e-01 9.60999149e-01 -1.31916036e-02 -4.48295041e+01] [-6.40028209e-02 -4.69876133e-03 9.97938656e-01 -1.46769047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:-44.83, Z:-14.68 [[ 9.58503907e-01 2.78999882e-01 5.85604476e-02 2.17763319e+02] [-2.77937322e-01 9.60254500e-01 -2.57320936e-02 -4.48285400e+01] [-6.34121843e-02 8.38817825e-03 9.97952170e-01 -1.46825095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:-44.84, Z:-14.68 [[ 9.58021304e-01 2.80095436e-01 6.11696619e-02 2.17791680e+02] [-2.79585145e-01 9.59971747e-01 -1.69230940e-02 -4.48397374e+01] [-6.34612286e-02 -8.89444214e-04 9.97983908e-01 -1.46843984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:-44.85, Z:-14.69 [[ 9.57202429e-01 2.82941008e-01 6.08924929e-02 2.17821794e+02] [-2.82441021e-01 9.59136714e-01 -1.68473564e-02 -4.48456875e+01] [-6.31710336e-02 -1.07220738e-03 9.98002140e-01 -1.46874677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:-44.86, Z:-14.69 [[ 9.56979471e-01 2.83662279e-01 6.10409985e-02 2.17852732e+02] [-2.83517273e-01 9.58901655e-01 -1.12058849e-02 -4.48565171e+01] [-6.17110013e-02 -6.58237566e-03 9.98072354e-01 -1.46864930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.88, Y:-44.86, Z:-14.69 [[ 9.56555953e-01 2.85020935e-01 6.13496217e-02 2.17883121e+02] [-2.84415412e-01 9.58521240e-01 -1.85716652e-02 -4.48590416e+01] [-6.40982288e-02 3.16059010e-04 9.97943544e-01 -1.46927191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:-44.87, Z:-14.69 [[ 9.56915858e-01 2.83869282e-01 6.10759410e-02 2.17914753e+02] [-2.83558880e-01 9.58854466e-01 -1.38735467e-02 -4.48658765e+01] [-6.25012125e-02 -4.04280856e-03 9.98036700e-01 -1.46908396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-44.87, Z:-14.69 [[ 9.57206783e-01 2.82962464e-01 6.07241132e-02 2.17947762e+02] [-2.82466712e-01 9.59130362e-01 -1.67781297e-02 -4.48716522e+01] [-6.29899216e-02 -1.09240108e-03 9.98013565e-01 -1.46936309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:-44.88, Z:-14.70 [[ 9.58102473e-01 2.79862095e-01 6.09660458e-02 2.17978587e+02] [-2.79348819e-01 9.60039894e-01 -1.69599591e-02 -4.48768277e+01] [-6.32762858e-02 -7.81414080e-04 9.97995742e-01 -1.46956322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:-44.88, Z:-14.70 [[ 9.58610598e-01 2.78083089e-01 6.11188793e-02 2.18008920e+02] [-2.77641748e-01 9.60555238e-01 -1.57700327e-02 -4.48839847e+01] [-6.30934391e-02 -1.85183199e-03 9.98005906e-01 -1.46981780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:-44.89, Z:-14.71 [[ 9.59054759e-01 2.76821968e-01 5.98628984e-02 2.18039174e+02] [-2.75772990e-01 9.60889987e-01 -2.52921060e-02 -4.48852151e+01] [-6.45230702e-02 7.74794411e-03 9.97886137e-01 -1.47058737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:-44.90, Z:-14.71 [[ 9.59644790e-01 2.74281744e-01 6.20596669e-02 2.18065841e+02] [-2.73740553e-01 9.61649269e-01 -1.72276589e-02 -4.48966974e+01] [-6.44048656e-02 -4.55814396e-04 9.97923747e-01 -1.47084756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-44.90, Z:-14.71 [[ 9.60765373e-01 2.70474969e-01 6.14262951e-02 2.18093025e+02] [-2.69937096e-01 9.62726987e-01 -1.70503087e-02 -4.49036993e+01] [-6.37484337e-02 -1.99889516e-04 9.97965980e-01 -1.47112717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:-44.91, Z:-14.71 [[ 9.61279098e-01 2.68747602e-01 6.09690347e-02 2.18121621e+02] [-2.68214398e-01 9.63210631e-01 -1.69209263e-02 -4.49114165e+01] [-6.32734807e-02 -8.70401367e-05 9.97996222e-01 -1.47136157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-44.92, Z:-14.72 [[ 9.61762365e-01 2.67057319e-01 6.07745160e-02 2.18149533e+02] [-2.66524229e-01 9.63680646e-01 -1.68655653e-02 -4.49192920e+01] [-6.30712976e-02 2.27849482e-05 9.98009023e-01 -1.47158907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.18, Y:-44.93, Z:-14.72 [[ 9.62193926e-01 2.65653352e-01 6.00928039e-02 2.18177875e+02] [-2.65129583e-01 9.64068610e-01 -1.66739373e-02 -4.49270290e+01] [-6.23630733e-02 1.11181129e-04 9.98053523e-01 -1.47171664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:-44.93, Z:-14.72 [[ 9.62599242e-01 2.63990554e-01 6.09236097e-02 2.18207978e+02] [-2.63449002e-01 9.64525240e-01 -1.69022010e-02 -4.49333318e+01] [-6.32243807e-02 2.19781658e-04 9.97999313e-01 -1.47203040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.24, Y:-44.95, Z:-14.72 [[ 9.62467754e-01 2.63097093e-01 6.66013611e-02 2.18235601e+02] [-2.63093954e-01 9.64728462e-01 -8.97589550e-03 -4.49459968e+01] [-6.66137606e-02 -8.88340543e-03 9.97739291e-01 -1.47238266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:-44.94, Z:-14.73 [[ 9.62591927e-01 2.64286076e-01 5.97465630e-02 2.18267274e+02] [-2.63147389e-01 9.64396349e-01 -2.63274493e-02 -4.49446266e+01] [-6.45773455e-02 9.62043805e-03 9.97866331e-01 -1.47256617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:-44.96, Z:-14.73 [[ 9.62465353e-01 2.64041159e-01 6.27910006e-02 2.18294744e+02] [-2.63465562e-01 9.64511386e-01 -1.74265264e-02 -4.49581750e+01] [-6.51639553e-02 2.29161633e-04 9.97874544e-01 -1.47271862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.32, Y:-44.97, Z:-14.73 [[ 9.62379374e-01 2.64719886e-01 6.12317174e-02 2.18324830e+02] [-2.64174061e-01 9.64325335e-01 -1.69916055e-02 -4.49659245e+01] [-6.35453122e-02 1.76539252e-04 9.97978939e-01 -1.47265772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:-44.97, Z:-14.73 [[ 9.62129471e-01 2.65428448e-01 6.20855869e-02 2.18354608e+02] [-2.64868644e-01 9.64130552e-01 -1.72302065e-02 -4.49734408e+01] [-6.44319981e-02 1.33164215e-04 9.97922091e-01 -1.47319036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-44.98, Z:-14.73 [[ 9.61383391e-01 2.68113734e-01 6.21047642e-02 2.18383595e+02] [-2.67559040e-01 9.63387266e-01 -1.72376383e-02 -4.49803091e+01] [-6.44525866e-02 -4.47119703e-05 9.97920769e-01 -1.47342055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.41, Y:-44.99, Z:-14.73 [[ 9.60884972e-01 2.70094094e-01 6.12311278e-02 2.18412184e+02] [-2.69558967e-01 9.62833916e-01 -1.69945237e-02 -4.49872868e+01] [-6.35455270e-02 -1.75617119e-04 9.97978925e-01 -1.47331926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:-45.00, Z:-14.73 [[ 9.60429375e-01 2.71130348e-01 6.37475515e-02 2.18441657e+02] [-2.71340084e-01 9.62467766e-01 -5.50976348e-03 -4.50016972e+01] [-6.28488276e-02 -1.20055273e-02 9.97950847e-01 -1.47320886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.47, Y:-45.00, Z:-14.73 [[ 9.59841773e-01 2.73901172e-01 6.06788174e-02 2.18472849e+02] [-2.73391948e-01 9.61757682e-01 -1.67034226e-02 -4.50021909e+01] [-6.29334058e-02 -5.56457377e-04 9.98017573e-01 -1.47343817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.50, Y:-45.00, Z:-14.74 [[ 9.58560443e-01 2.78626201e-01 5.94080599e-02 2.18502656e+02] [-2.77331295e-01 9.60330648e-01 -2.91958865e-02 -4.50000600e+01] [-6.51861196e-02 1.15103077e-02 9.97806736e-01 -1.47434841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:-45.02, Z:-14.74 [[ 9.58228830e-01 2.78854889e-01 6.35410168e-02 2.18529353e+02] [-2.79166555e-01 9.60233945e-01 -4.09953209e-03 -4.50211218e+01] [-6.21574158e-02 -1.38102369e-02 9.97970808e-01 -1.47383688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.56, Y:-45.02, Z:-14.74 [[ 9.57672975e-01 2.81519606e-01 6.00764878e-02 2.18561304e+02] [-2.80955099e-01 9.59555458e-01 -1.78201065e-02 -4.50196011e+01] [-6.26634311e-02 1.87038885e-04 9.98034699e-01 -1.47424152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:-45.03, Z:-14.74 [[ 9.57239740e-01 2.82861181e-01 6.06764651e-02 2.18589693e+02] [-2.82489153e-01 9.59156261e-01 -1.48035882e-02 -4.50266391e+01] [-6.23855718e-02 -2.96986033e-03 9.98047704e-01 -1.47439167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:-45.03, Z:-14.75 [[ 9.56925432e-01 2.84090852e-01 5.98840921e-02 2.18619578e+02] [-2.83580440e-01 9.58797124e-01 -1.70355225e-02 -4.50292724e+01] [-6.22563313e-02 -6.80232490e-04 9.98059961e-01 -1.47463479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:-45.03, Z:-14.76 [[ 9.56786884e-01 2.84753203e-01 5.89446551e-02 2.18647303e+02] [-2.83363859e-01 9.58514596e-01 -3.08980943e-02 -4.50267766e+01] [-6.52976436e-02 1.28601064e-02 9.97782960e-01 -1.47554570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:-45.04, Z:-14.76 [[ 9.56981211e-01 2.82709468e-01 6.52864416e-02 2.18671392e+02] [-2.82397460e-01 9.59193102e-01 -1.41516132e-02 -4.50422789e+01] [-6.66230995e-02 -4.89389733e-03 9.97766211e-01 -1.47582050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-45.05, Z:-14.75 [[ 9.57574574e-01 2.80823999e-01 6.47210738e-02 2.18699337e+02] [-2.80938530e-01 9.59696365e-01 -7.51188466e-03 -4.50509844e+01] [-6.42220968e-02 -1.09894536e-02 9.97875120e-01 -1.47534186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-45.04, Z:-14.76 [[ 9.57588242e-01 2.81671246e-01 6.07129997e-02 2.18729223e+02] [-2.80204083e-01 9.59419058e-01 -3.16345251e-02 -4.50424239e+01] [-6.71597451e-02 1.32808189e-02 9.97653842e-01 -1.47627001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.75, Y:-45.06, Z:-14.77 [[ 9.57750342e-01 2.79256459e-01 6.87758126e-02 2.18753112e+02] [-2.79173923e-01 9.60177494e-01 -1.10045610e-02 -4.50602067e+01] [-6.91100822e-02 -8.66079132e-03 9.97571445e-01 -1.47658505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:-45.06, Z:-14.77 [[ 9.58135231e-01 2.79512422e-01 6.20458248e-02 2.18782510e+02] [-2.78454426e-01 9.60117057e-01 -2.52659764e-02 -4.50579173e+01] [-6.66334090e-02 6.93128764e-03 9.97753450e-01 -1.47673284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-45.07, Z:-14.77 [[ 9.58653894e-01 2.77487824e-01 6.31127511e-02 2.18808693e+02] [-2.76936058e-01 9.60728901e-01 -1.75042576e-02 -4.50660338e+01] [-6.54914623e-02 -6.97671774e-04 9.97852886e-01 -1.47703019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-45.07, Z:-14.77 [[ 9.58870052e-01 2.76767712e-01 6.29909256e-02 2.18836600e+02] [-2.76216773e-01 9.60936631e-01 -1.74666678e-02 -4.50715902e+01] [-6.53644975e-02 -6.50885556e-04 9.97861242e-01 -1.47728432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:-45.08, Z:-14.78 [[ 9.59093674e-01 2.76098189e-01 6.25229181e-02 2.18864826e+02] [-2.75554320e-01 9.61129244e-01 -1.73318634e-02 -4.50772487e+01] [-6.48779011e-02 -6.05579633e-04 9.97893026e-01 -1.47750597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:218.89, Y:-45.08, Z:-14.78 [[ 9.59215751e-01 2.75908958e-01 6.14767421e-02 2.18891778e+02] [-2.75382961e-01 9.61183595e-01 -1.70388204e-02 -4.50831193e+01] [-6.37915992e-02 -5.85742323e-04 9.97963070e-01 -1.47768053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:-45.09, Z:-14.78 [[ 9.59500012e-01 2.74945169e-01 6.13586201e-02 2.18919683e+02] [-2.74419474e-01 9.61459765e-01 -1.70021582e-02 -4.50871929e+01] [-6.36685057e-02 -5.24429279e-04 9.97970965e-01 -1.47806577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:-45.09, Z:-14.78 [[ 9.59516150e-01 2.74888568e-01 6.13598644e-02 2.18947095e+02] [-2.74363044e-01 9.61475948e-01 -1.69976664e-02 -4.50946518e+01] [-6.36684980e-02 -5.25343752e-04 9.97970965e-01 -1.47828870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.97, Y:-45.10, Z:-14.79 [[ 9.59594104e-01 2.74633564e-01 6.12826266e-02 2.18973738e+02] [-2.74109077e-01 9.61548826e-01 -1.69726211e-02 -4.51010216e+01] [-6.35874890e-02 -5.11297098e-04 9.97976137e-01 -1.47855029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.00, Y:-45.11, Z:-14.79 [[ 9.59581961e-01 2.74618126e-01 6.15414059e-02 2.19001075e+02] [-2.74089477e-01 9.61553232e-01 -1.70393943e-02 -4.51069017e+01] [-6.38546643e-02 -5.17156368e-04 9.97959075e-01 -1.47878790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:-45.11, Z:-14.79 [[ 9.59592324e-01 2.74510372e-01 6.18597367e-02 2.19028042e+02] [-2.73976329e-01 9.61583999e-01 -1.71225880e-02 -4.51128137e+01] [-6.41836610e-02 -5.17399579e-04 9.97937969e-01 -1.47897579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:-45.12, Z:-14.79 [[ 9.59413950e-01 2.74273002e-01 6.55682253e-02 2.19053396e+02] [-2.74120218e-01 9.61626769e-01 -1.14918360e-02 -4.51217399e+01] [-6.62040610e-02 -6.94814845e-03 9.97781913e-01 -1.47929714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.08, Y:-45.12, Z:-14.79 [[ 9.59567157e-01 2.74845662e-01 6.07514116e-02 2.19082865e+02] [-2.73910821e-01 9.61470907e-01 -2.33785598e-02 -4.51208966e+01] [-6.48362106e-02 5.79282916e-03 9.97879105e-01 -1.47945995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.11, Y:-45.14, Z:-14.80 [[ 9.59328164e-01 2.73286522e-01 7.07386120e-02 2.19105953e+02] [-2.73766119e-01 9.61791575e-01 -3.01287029e-03 -4.51396219e+01] [-6.88591779e-02 -1.64755040e-02 9.97490336e-01 -1.47990652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:-45.13, Z:-14.80 [[ 9.59447581e-01 2.75586328e-01 5.92664813e-02 2.19138646e+02] [-2.74049966e-01 9.61155499e-01 -3.28134448e-02 -4.51281588e+01] [-6.60072412e-02 1.52408030e-02 9.97702742e-01 -1.47990112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:-45.15, Z:-14.80 [[ 9.59368927e-01 2.74333927e-01 6.59708840e-02 2.19163634e+02] [-2.74366935e-01 9.61585384e-01 -8.73692315e-03 -4.51489254e+01] [-6.58334723e-02 -9.71829666e-03 9.97783297e-01 -1.47971984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91264000000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.19, Y:-45.14, Z:-14.80 [[ 9.59167796e-01 2.76223148e-01 6.08104571e-02 2.19191973e+02] [-2.75091303e-01 9.61054898e-01 -2.64245639e-02 -4.51439662e+01] [-6.57412639e-02 8.61716280e-03 9.97799494e-01 -1.48022548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:-45.15, Z:-14.81 [[ 9.58610009e-01 2.77351804e-01 6.43647971e-02 2.19217248e+02] [-2.76782258e-01 9.60768123e-01 -1.77819063e-02 -4.51525970e+01] [-6.67714891e-02 -7.69120502e-04 9.97767997e-01 -1.48051709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:-45.16, Z:-14.81 [[ 9.58189417e-01 2.78699856e-01 6.48030213e-02 2.19244691e+02] [-2.78126006e-01 9.60377855e-01 -1.78969135e-02 -4.51585381e+01] [-6.72232538e-02 -8.74772431e-04 9.97737575e-01 -1.48076299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.27, Y:-45.17, Z:-14.81 [[ 9.57759564e-01 2.79494770e-01 6.76704609e-02 2.19272044e+02] [-2.79242998e-01 9.60127738e-01 -1.33445115e-02 -4.51676505e+01] [-6.87020077e-02 -6.11566887e-03 9.97618481e-01 -1.48107447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:-45.17, Z:-14.81 [[ 9.57043496e-01 2.82988511e-01 6.31288324e-02 2.19300665e+02] [-2.82095442e-01 9.59114810e-01 -2.28241798e-02 -4.51664475e+01] [-6.70067788e-02 4.03537698e-03 9.97744360e-01 -1.48121516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-45.18, Z:-14.82 [[ 9.56664606e-01 2.83271983e-01 6.74523167e-02 2.19326845e+02] [-2.83112490e-01 9.59010219e-01 -1.21126692e-02 -4.51773015e+01] [-6.81186409e-02 -7.50883145e-03 9.97648970e-01 -1.48155076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:-45.18, Z:-14.81 [[ 9.56305467e-01 2.84831155e-01 6.59626169e-02 2.19355517e+02] [-2.84522910e-01 9.58563767e-01 -1.42203414e-02 -4.51807910e+01] [-6.72797708e-02 -5.16888549e-03 9.97720760e-01 -1.48148113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:-45.17, Z:-14.82 [[ 9.56037407e-01 2.86746911e-01 6.13896168e-02 2.19385439e+02] [-2.85560174e-01 9.57966389e-01 -2.74915257e-02 -4.51745321e+01] [-6.66922996e-02 8.75249733e-03 9.97735201e-01 -1.48192152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.41, Y:-45.19, Z:-14.82 [[ 9.55941010e-01 2.84941878e-01 7.06038993e-02 2.19409116e+02] [-2.85205722e-01 9.58444084e-01 -6.52955106e-03 -4.51921468e+01] [-6.95304321e-02 -1.38947704e-02 9.97483060e-01 -1.48239099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:-45.19, Z:-14.82 [[ 9.55961471e-01 2.86522134e-01 6.35824918e-02 2.19440670e+02] [-2.85404952e-01 9.58048761e-01 -2.62027736e-02 -4.51865558e+01] [-6.84228020e-02 6.90208398e-03 9.97632538e-01 -1.48247588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:-45.19, Z:-14.83 [[ 9.56388255e-01 2.84673946e-01 6.54389079e-02 2.19467834e+02] [-2.84029582e-01 9.58624362e-01 -1.91449375e-02 -4.51933977e+01] [-6.81813962e-02 -2.76592305e-04 9.97672903e-01 -1.48275019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-45.20, Z:-14.83 [[ 9.56833894e-01 2.83486464e-01 6.40649904e-02 2.19494418e+02] [-2.82760212e-01 9.58975315e-01 -2.03225999e-02 -4.51975622e+01] [-6.71979263e-02 1.33032221e-03 9.97738778e-01 -1.48292975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:-45.20, Z:-14.83 [[ 9.57390110e-01 2.81498629e-01 6.45189832e-02 2.19521642e+02] [-2.80939836e-01 9.59560977e-01 -1.77634408e-02 -4.52043876e+01] [-6.69102828e-02 -1.11941003e-03 9.97758368e-01 -1.48314023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-45.21, Z:-14.83 [[ 9.57984588e-01 2.79411037e-01 6.47688263e-02 2.19549046e+02] [-2.78843479e-01 9.60171082e-01 -1.78271284e-02 -4.52095999e+01] [-6.71702505e-02 -9.82250631e-04 9.97741045e-01 -1.48333846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.58, Y:-45.21, Z:-14.84 [[ 9.59496878e-01 2.74298232e-01 6.42356703e-02 2.19575518e+02] [-2.73728822e-01 9.61644473e-01 -1.76759802e-02 -4.52143047e+01] [-6.66203674e-02 -6.23106535e-04 9.97778201e-01 -1.48358455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.60, Y:-45.22, Z:-14.84 [[ 9.60323461e-01 2.71472825e-01 6.38854884e-02 2.19602256e+02] [-2.70904006e-01 9.62446007e-01 -1.75699349e-02 -4.52206052e+01] [-6.62560931e-02 -4.34013974e-04 9.97802557e-01 -1.48383532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-45.23, Z:-14.84 [[ 9.61922034e-01 2.65769300e-01 6.38175524e-02 2.19629189e+02] [-2.65189467e-01 9.64036658e-01 -1.75462077e-02 -4.52271741e+01] [-6.61857033e-02 -4.56589469e-05 9.97807321e-01 -1.48410214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.66, Y:-45.23, Z:-14.84 [[ 9.62626988e-01 2.63214132e-01 6.37777620e-02 2.19655633e+02] [-2.62629741e-01 9.64737428e-01 -1.75303790e-02 -4.52335403e+01] [-6.61430376e-02 1.25278882e-04 9.97810144e-01 -1.48427687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.68, Y:-45.24, Z:-14.85 [[ 9.63344993e-01 2.59569571e-01 6.77499929e-02 2.19682478e+02] [-2.59535099e-01 9.65687300e-01 -9.46419850e-03 -4.52445410e+01] [-6.78819257e-02 -8.46621288e-03 9.97657440e-01 -1.48450741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.71, Y:-45.24, Z:-14.85 [[ 9.63859692e-01 2.59230532e-01 6.14330916e-02 2.19711740e+02] [-2.58079543e-01 9.65770478e-01 -2.61215099e-02 -4.52416630e+01] [-6.61017591e-02 9.32284631e-03 9.97769333e-01 -1.48467960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:219.74, Y:-45.25, Z:-14.85 [[ 9.64602602e-01 2.55974224e-01 6.33957134e-02 2.19737133e+02] [-2.55382206e-01 9.66683419e-01 -1.74096544e-02 -4.52530322e+01] [-6.57400078e-02 6.03260771e-04 9.97836604e-01 -1.48489934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:219.76, Y:-45.27, Z:-14.85 [[ 9.64718954e-01 2.54291680e-01 6.82135008e-02 2.19762509e+02] [-2.54537238e-01 9.67048923e-01 -5.21300599e-03 -4.52675725e+01] [-6.72914166e-02 -1.23337904e-02 9.97657127e-01 -1.48505818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.79, Y:-45.26, Z:-14.85 [[ 9.64945261e-01 2.55496106e-01 6.00198614e-02 2.19793558e+02] [-2.54100986e-01 9.66713636e-01 -2.99572039e-02 -4.52600877e+01] [-6.56759674e-02 1.36559560e-02 9.97747554e-01 -1.48531670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264000000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:219.82, Y:-45.27, Z:-14.86 [[ 9.65140520e-01 2.54077797e-01 6.28351023e-02 2.19817273e+02] [-2.53493022e-01 9.67183521e-01 -1.72430932e-02 -4.52743785e+01] [-6.51541626e-02 7.13748002e-04 9.97874955e-01 -1.48550286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:-45.28, Z:-14.86 [[ 9.65228259e-01 2.53563053e-01 6.35624604e-02 2.19844310e+02] [-2.52963918e-01 9.67318569e-01 -1.74368254e-02 -4.52800313e+01] [-6.59064829e-02 7.51507636e-04 9.97825521e-01 -1.48577251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264000000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:219.87, Y:-45.29, Z:-14.86 [[ 9.65413350e-01 2.53074197e-01 6.26938069e-02 2.19870136e+02] [-2.52490614e-01 9.67446566e-01 -1.71939334e-02 -4.52872269e+01] [-6.50042491e-02 7.69655062e-04 9.97884690e-01 -1.48590819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:-45.29, Z:-14.86 [[ 9.65575695e-01 2.52276237e-01 6.34056636e-02 2.19896115e+02] [-2.51677974e-01 9.67654905e-01 -1.73833745e-02 -4.52946853e+01] [-6.57402137e-02 8.27154966e-04 9.97836430e-01 -1.48623110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:-45.30, Z:-14.86 [[ 9.65986189e-01 2.50739263e-01 6.32495397e-02 2.19922018e+02] [-2.50141023e-01 9.68054218e-01 -1.73349426e-02 -4.53043472e+01] [-6.55755344e-02 9.24010608e-04 9.97847180e-01 -1.48641297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:219.95, Y:-45.31, Z:-14.87 [[ 9.66335562e-01 2.49669643e-01 6.21341392e-02 2.19948643e+02] [-2.49090431e-01 9.68330584e-01 -1.70246099e-02 -4.53127046e+01] [-6.44169155e-02 9.74466409e-04 9.97922598e-01 -1.48655941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:-45.32, Z:-14.87 [[ 9.66501951e-01 2.48885813e-01 6.26883578e-02 2.19974043e+02] [-2.48294868e-01 9.68532286e-01 -1.71717888e-02 -4.53201184e+01] [-6.49895131e-02 1.03136988e-03 9.97885414e-01 -1.48685633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.00, Y:-45.33, Z:-14.87 [[ 9.66704791e-01 2.48243198e-01 6.21060549e-02 2.19999956e+02] [-2.47662222e-01 9.68697162e-01 -1.70068054e-02 -4.53290191e+01] [-6.43837829e-02 1.05923676e-03 9.97924650e-01 -1.48701682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:-45.34, Z:-14.87 [[ 9.66612262e-01 2.48671239e-01 6.18332369e-02 2.20027197e+02] [-2.48096592e-01 9.68587411e-01 -1.69265558e-02 -4.53368232e+01] [-6.41000425e-02 1.02080100e-03 9.97942956e-01 -1.48722500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:-45.34, Z:-14.87 [[ 9.66360170e-01 2.49736698e-01 6.14784798e-02 2.20053466e+02] [-2.49171078e-01 9.68313326e-01 -1.68248621e-02 -4.53448695e+01] [-6.37322167e-02 9.40217490e-04 9.97966593e-01 -1.48740337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.08, Y:-45.35, Z:-14.87 [[ 9.66112877e-01 2.50892273e-01 6.06545582e-02 2.20079015e+02] [-2.50344247e-01 9.68014642e-01 -1.65955060e-02 -4.53532412e+01] [-6.28781847e-02 8.48612353e-04 9.98020848e-01 -1.48747023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:-45.36, Z:-14.88 [[ 9.64924885e-01 2.54920066e-01 6.27353732e-02 2.20105809e+02] [-2.54342805e-01 9.66961945e-01 -1.71562027e-02 -4.53612043e+01] [-6.50361788e-02 5.98156125e-04 9.97882727e-01 -1.48770082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-45.37, Z:-14.88 [[ 9.64411210e-01 2.56913827e-01 6.25004250e-02 2.20131778e+02] [-2.56345364e-01 9.66434207e-01 -1.70873671e-02 -4.53674421e+01] [-6.47925295e-02 4.57554131e-04 9.97898652e-01 -1.48786614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:-45.37, Z:-14.88 [[ 9.63899706e-01 2.58855104e-01 6.23810173e-02 2.20158863e+02] [-2.58293239e-01 9.65916110e-01 -1.70490589e-02 -4.53742967e+01] [-6.46680656e-02 3.20987875e-04 9.97906778e-01 -1.48811182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:-45.38, Z:-14.88 [[ 9.63453996e-01 2.60415904e-01 6.27690585e-02 2.20185247e+02] [-2.59850633e-01 9.65496510e-01 -1.71504258e-02 -4.53814638e+01] [-6.50695506e-02 2.13066764e-04 9.97880708e-01 -1.48834143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:-45.39, Z:-14.89 [[ 9.62645619e-01 2.63393013e-01 6.27497704e-02 2.20211947e+02] [-2.62834777e-01 9.64688613e-01 -1.71394152e-02 -4.53881537e+01] [-6.50483912e-02 6.36105883e-06 9.97882111e-01 -1.48850544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:-45.39, Z:-14.89 [[ 9.62360643e-01 2.64532170e-01 6.23275565e-02 2.20239106e+02] [-2.63984119e-01 9.64376859e-01 -1.70193918e-02 -4.53947083e+01] [-6.46094298e-02 -7.46922504e-05 9.97910625e-01 -1.48874688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:-45.40, Z:-14.89 [[ 9.62159567e-01 2.65339693e-01 6.19985112e-02 2.20265233e+02] [-2.64799394e-01 9.64154982e-01 -1.69248678e-02 -4.54018786e+01] [-6.42670127e-02 -1.32744744e-04 9.97932730e-01 -1.48900497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.29, Y:-45.41, Z:-14.89 [[ 9.61891212e-01 2.66264840e-01 6.21959175e-02 2.20291152e+02] [-2.65723395e-01 9.63899888e-01 -1.69730029e-02 -4.54106184e+01] [-6.44699518e-02 -2.00728003e-04 9.97919629e-01 -1.48916222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:-45.42, Z:-14.89 [[ 9.61771725e-01 2.66438667e-01 6.32897027e-02 2.20316772e+02] [-2.65878708e-01 9.63851850e-01 -1.72662953e-02 -4.54171332e+01] [-6.56023057e-02 -2.21149792e-04 9.97845824e-01 -1.48938196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.34, Y:-45.42, Z:-14.90 [[ 9.61789871e-01 2.66355274e-01 6.33649169e-02 2.20344004e+02] [-2.65794400e-01 9.63874897e-01 -1.72777106e-02 -4.54240129e+01] [-6.56778621e-02 -2.24512996e-04 9.97840853e-01 -1.48957422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:-45.44, Z:-14.90 [[ 9.61774095e-01 2.65082784e-01 6.87146893e-02 2.20368104e+02] [-2.65136383e-01 9.64173403e-01 -8.50567978e-03 -4.54359900e+01] [-6.85075851e-02 -1.00382217e-02 9.97600093e-01 -1.48993343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.40, Y:-45.44, Z:-14.90 [[ 9.62149948e-01 2.64447142e-01 6.58421267e-02 2.20396660e+02] [-2.63839696e-01 9.64400171e-01 -1.79143555e-02 -4.54398030e+01] [-6.82355584e-02 -1.35470515e-04 9.97669229e-01 -1.49014565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-45.44, Z:-14.90 [[ 9.62513382e-01 2.64307091e-01 6.09077222e-02 2.20425133e+02] [-2.63157951e-01 9.64393692e-01 -2.63191863e-02 -4.54432546e+01] [-6.56953707e-02 9.30421761e-03 9.97796347e-01 -1.49021530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:-45.46, Z:-14.90 [[ 9.62708177e-01 2.63001918e-01 6.34267886e-02 2.20450615e+02] [-2.62433805e-01 9.64795310e-01 -1.72773587e-02 -4.54563130e+01] [-6.57378467e-02 -1.22790415e-05 9.97836928e-01 -1.49046033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.48, Y:-45.46, Z:-14.91 [[ 9.62744282e-01 2.62811217e-01 6.36687711e-02 2.20477306e+02] [-2.62238671e-01 9.64847275e-01 -1.73382663e-02 -4.54644212e+01] [-6.59873311e-02 -4.09711988e-06 9.97820461e-01 -1.49062015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:-45.47, Z:-14.91 [[ 9.62449890e-01 2.63866548e-01 6.37546362e-02 2.20504000e+02] [-2.63295097e-01 9.64559194e-01 -1.73566481e-02 -4.54738458e+01] [-6.60749593e-02 -8.13791528e-05 9.97814659e-01 -1.49076811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:-45.48, Z:-14.91 [[ 9.62121971e-01 2.65081350e-01 6.36646765e-02 2.20530781e+02] [-2.64514497e-01 9.64226036e-01 -1.73271971e-02 -4.54816381e+01] [-6.59802554e-02 -1.69352909e-04 9.97820914e-01 -1.49097952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.56, Y:-45.49, Z:-14.91 [[ 9.61589277e-01 2.66951231e-01 6.38991658e-02 2.20558005e+02] [-2.66384648e-01 9.63709992e-01 -1.73859485e-02 -4.54889876e+01] [-6.62214649e-02 -3.03615138e-04 9.97804903e-01 -1.49118181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-45.50, Z:-14.91 [[ 9.59991115e-01 2.72484029e-01 6.45717679e-02 2.20584217e+02] [-2.71918259e-01 9.62160053e-01 -1.75639360e-02 -4.54952463e+01] [-6.69142677e-02 -6.97020182e-04 9.97758485e-01 -1.49134251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:-45.50, Z:-14.92 [[ 9.59064037e-01 2.75729374e-01 6.45715498e-02 2.20609894e+02] [-2.75171346e-01 9.61234856e-01 -1.75579337e-02 -4.55016512e+01] [-6.69096625e-02 -9.29057534e-04 9.97758605e-01 -1.49154914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.64, Y:-45.51, Z:-14.92 [[ 9.59080445e-01 2.75671928e-01 6.45731171e-02 2.20637337e+02] [-2.75114159e-01 9.61251331e-01 -1.75521676e-02 -4.55089785e+01] [-6.69096347e-02 -9.31038137e-04 9.97758605e-01 -1.49177353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:-45.52, Z:-14.92 [[ 9.58234479e-01 2.78761443e-01 6.38650154e-02 2.20664289e+02] [-2.78222953e-01 9.60359705e-01 -1.73558448e-02 -4.55153284e+01] [-6.61715277e-02 -1.13774426e-03 9.97807614e-01 -1.49196732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-45.53, Z:-14.92 [[ 9.57537324e-01 2.80612895e-01 6.61715655e-02 2.20689021e+02] [-2.80931147e-01 9.59716724e-01 -4.63686851e-03 -4.55277681e+01] [-6.48071231e-02 -1.41496791e-02 9.97797486e-01 -1.49179849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:-45.52, Z:-14.92 [[ 9.56266887e-01 2.86196157e-01 6.03771534e-02 2.20720622e+02] [-2.84887876e-01 9.58108353e-01 -2.94496660e-02 -4.55198631e+01] [-6.62762363e-02 1.09610214e-02 9.97741107e-01 -1.49246443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-45.53, Z:-14.93 [[ 9.56096320e-01 2.86203712e-01 6.29862136e-02 2.20746350e+02] [-2.85697568e-01 9.58167369e-01 -1.70936463e-02 -4.55328767e+01] [-6.52435996e-02 -1.65183569e-03 9.97867999e-01 -1.49272482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:-45.54, Z:-14.93 [[ 9.55960092e-01 2.86746209e-01 6.25852538e-02 2.20772936e+02] [-2.86247972e-01 9.58005104e-01 -1.69799345e-02 -4.55396903e+01] [-6.48259245e-02 -1.68276226e-03 9.97895169e-01 -1.49293549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:-45.55, Z:-14.93 [[ 9.56214415e-01 2.85916652e-01 6.24952786e-02 2.20798812e+02] [-2.85418388e-01 9.58253106e-01 -1.69507659e-02 -4.55461784e+01] [-6.47328011e-02 -1.62873497e-03 9.97901304e-01 -1.49320468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:-45.56, Z:-14.93 [[ 9.56766048e-01 2.83851929e-01 6.34571622e-02 2.20822896e+02] [-2.84120952e-01 9.58775753e-01 -4.93352500e-03 -4.55587636e+01] [-6.22415790e-02 -1.33092801e-02 9.97972369e-01 -1.49297005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:-45.55, Z:-14.94 [[ 9.57236494e-01 2.83366387e-01 5.83248157e-02 2.20854995e+02] [-2.82182947e-01 9.58958111e-01 -2.77871528e-02 -4.55535442e+01] [-6.38050001e-02 1.01406083e-02 9.97910863e-01 -1.49361939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:-45.57, Z:-14.94 [[ 9.57791621e-01 2.79428452e-01 6.74903734e-02 2.20877107e+02] [-2.79660704e-01 9.60079041e-01 -6.17451887e-03 -4.55732519e+01] [-6.65214292e-02 -1.29605029e-02 9.97700819e-01 -1.49412902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:-45.57, Z:-14.94 [[ 9.59141354e-01 2.76671723e-01 5.91660483e-02 2.20908919e+02] [-2.75453337e-01 9.60906433e-01 -2.80051143e-02 -4.55686562e+01] [-6.46012597e-02 1.05633778e-02 9.97855246e-01 -1.49408951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:-45.59, Z:-14.94 [[ 9.59634901e-01 2.73947727e-01 6.36671009e-02 2.20931104e+02] [-2.74060474e-01 9.61686057e-01 -7.12633373e-03 -4.55863421e+01] [-6.31800061e-02 -1.06099573e-02 9.97945748e-01 -1.49390787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:-45.58, Z:-14.94 [[ 9.59800444e-01 2.73982332e-01 6.09654846e-02 2.20962302e+02] [-2.72854820e-01 9.61696445e-01 -2.62715471e-02 -4.55833812e+01] [-6.58282296e-02 8.58071621e-03 9.97794075e-01 -1.49445383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:-45.60, Z:-14.95 [[ 9.59951600e-01 2.72778646e-01 6.39119414e-02 2.20987012e+02] [-2.72232310e-01 9.62076475e-01 -1.72749797e-02 -4.55954607e+01] [-6.62004209e-02 -8.15751031e-04 9.97806013e-01 -1.49465947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.01, Y:-45.61, Z:-14.95 [[ 9.59881093e-01 2.72701118e-01 6.52869547e-02 2.21011431e+02] [-2.72703897e-01 9.62055525e-01 -9.04166994e-03 -4.56068406e+01] [-6.52753490e-02 -9.12507893e-03 9.97825567e-01 -1.49454463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:-45.61, Z:-14.95 [[ 9.59729562e-01 2.73696908e-01 6.33180171e-02 2.21039965e+02] [-2.73167392e-01 9.61815533e-01 -1.70427923e-02 -4.56088219e+01] [-6.55648119e-02 -9.39946035e-04 9.97847870e-01 -1.49479987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.07, Y:-45.62, Z:-14.95 [[ 9.59222798e-01 2.75332369e-01 6.39039073e-02 2.21067407e+02] [-2.74850096e-01 9.61347337e-01 -1.63927625e-02 -4.56163709e+01] [-6.59473092e-02 -1.83968357e-03 9.97821411e-01 -1.49510885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:-45.62, Z:-14.95 [[ 9.59062203e-01 2.76045692e-01 6.32334372e-02 2.21096695e+02] [-2.75457341e-01 9.61144503e-01 -1.80138011e-02 -4.56219200e+01] [-6.57491027e-02 -1.41758690e-04 9.97836177e-01 -1.49527267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:-45.63, Z:-14.96 [[ 9.58720310e-01 2.77180853e-01 6.34518820e-02 2.21122969e+02] [-2.76582200e-01 9.60817759e-01 -1.82077049e-02 -4.56272310e+01] [-6.60125222e-02 -9.35645855e-05 9.97818790e-01 -1.49558777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:-45.63, Z:-14.96 [[ 9.58360218e-01 2.78555161e-01 6.28706212e-02 2.21151176e+02] [-2.77608097e-01 9.60406839e-01 -2.35042288e-02 -4.56298435e+01] [-6.69285988e-02 5.07212430e-03 9.97744875e-01 -1.49610352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:221.18, Y:-45.64, Z:-14.96 [[ 9.57950690e-01 2.79969755e-01 6.28284348e-02 2.21177939e+02] [-2.79460026e-01 9.60007898e-01 -1.69390072e-02 -4.56378695e+01] [-6.50582033e-02 -1.33130238e-03 9.97880583e-01 -1.49628524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.20, Y:-45.65, Z:-14.96 [[ 9.57422788e-01 2.81177794e-01 6.54267037e-02 2.21201362e+02] [-2.81078262e-01 9.59622818e-01 -1.09113570e-02 -4.56457195e+01] [-6.58529890e-02 -7.94324228e-03 9.97797719e-01 -1.49647019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:-45.64, Z:-14.97 [[ 9.57341092e-01 2.82179499e-01 6.22315391e-02 2.21232367e+02] [-2.81258835e-01 9.59349743e-01 -2.32709948e-02 -4.56441599e+01] [-6.62684087e-02 4.77510939e-03 9.97790407e-01 -1.49684038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.26, Y:-45.65, Z:-14.97 [[ 9.57239302e-01 2.82128823e-01 6.40019220e-02 2.21257529e+02] [-2.81606504e-01 9.59375307e-01 -1.72278093e-02 -4.56521857e+01] [-6.62623251e-02 -1.53222136e-03 9.97801061e-01 -1.49710943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.28, Y:-45.66, Z:-14.97 [[ 9.57160727e-01 2.81762212e-01 6.67337810e-02 2.21282640e+02] [-2.82018206e-01 9.59391832e-01 -5.74842900e-03 -4.56606621e+01] [-6.56435345e-02 -1.33179707e-02 9.97754257e-01 -1.49698071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:-45.66, Z:-14.97 [[ 9.57126898e-01 2.82431270e-01 6.43481019e-02 2.21312612e+02] [-2.81988551e-01 9.59283500e-01 -1.60506571e-02 -4.56603385e+01] [-6.62612799e-02 -2.78291238e-03 9.97798426e-01 -1.49718479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:-45.66, Z:-14.97 [[ 9.57497270e-01 2.81426287e-01 6.32315033e-02 2.21342589e+02] [-2.80826212e-01 9.59582835e-01 -1.83690524e-02 -4.56641910e+01] [-6.58453994e-02 -1.68746019e-04 9.97829823e-01 -1.49737955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.37, Y:-45.67, Z:-14.98 [[ 9.57742243e-01 2.80504444e-01 6.36164540e-02 2.21369699e+02] [-2.80017969e-01 9.59850857e-01 -1.66213674e-02 -4.56695157e+01] [-6.57246752e-02 -1.89476456e-03 9.97835997e-01 -1.49769088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-45.67, Z:-14.98 [[ 9.58142966e-01 2.79200234e-01 6.33189207e-02 2.21395783e+02] [-2.78773854e-01 9.60229232e-01 -1.56512285e-02 -4.56714377e+01] [-6.51705053e-02 -2.65554499e-03 9.97870610e-01 -1.49789820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-45.67, Z:-14.99 [[ 9.58476629e-01 2.78429659e-01 6.16399003e-02 2.21426733e+02] [-2.77095634e-01 9.60392516e-01 -2.93977017e-02 -4.56683939e+01] [-6.73836909e-02 1.10968627e-02 9.97665424e-01 -1.49867399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:-45.68, Z:-14.99 [[ 9.59048604e-01 2.75822925e-01 6.44010046e-02 2.21452160e+02] [-2.75282426e-01 9.61207789e-01 -1.72965881e-02 -4.56797257e+01] [-6.66735428e-02 -1.14019608e-03 9.97774192e-01 -1.49900825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-45.68, Z:-14.99 [[ 9.60070316e-01 2.72198282e-01 6.45994102e-02 2.21479242e+02] [-2.71646577e-01 9.62240767e-01 -1.73448642e-02 -4.56820157e+01] [-6.68814282e-02 -8.95919418e-04 9.97760528e-01 -1.49922458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:-45.70, Z:-14.99 [[ 9.60929287e-01 2.68683338e-01 6.65144245e-02 2.21505076e+02] [-2.69259648e-01 9.63067570e-01 -3.11639000e-04 -4.56964237e+01] [-6.41416174e-02 -1.76101875e-02 9.97785415e-01 -1.49876835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.53, Y:-45.69, Z:-14.99 [[ 9.61094433e-01 2.69333659e-01 6.12933216e-02 2.21534747e+02] [-2.67944842e-01 9.62966907e-01 -3.00049673e-02 -4.56850266e+01] [-6.71047880e-02 1.24143777e-02 9.97668698e-01 -1.49941495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:-45.70, Z:-15.00 [[ 9.61800133e-01 2.66020824e-01 6.46020521e-02 2.21563037e+02] [-2.65180499e-01 9.63961072e-01 -2.14092181e-02 -4.56958057e+01] [-6.79691612e-02 3.46018441e-03 9.97681422e-01 -1.49985781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:-45.71, Z:-14.99 [[ 9.63226950e-01 2.59923863e-01 6.80692902e-02 2.21588439e+02] [-2.60695354e-01 9.65417745e-01 2.55153221e-03 -4.57127266e+01] [-6.50520965e-02 -2.02030523e-02 9.97677333e-01 -1.49923795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:-45.70, Z:-15.00 [[ 9.63269419e-01 2.60473113e-01 6.53129705e-02 2.21619225e+02] [-2.59079358e-01 9.65416952e-01 -2.91203355e-02 -4.57010128e+01] [-7.06393134e-02 1.11294862e-02 9.97439834e-01 -1.50028771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:-45.71, Z:-15.00 [[ 9.63760798e-01 2.59031302e-01 6.37801561e-02 2.21647216e+02] [-2.57836657e-01 9.65826633e-01 -2.64418966e-02 -4.57081992e+01] [-6.84498523e-02 9.03880115e-03 9.97613611e-01 -1.50042549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:-45.72, Z:-15.01 [[ 9.64308456e-01 2.56584071e-01 6.53744325e-02 2.21673047e+02] [-2.55985730e-01 9.66521904e-01 -1.75132743e-02 -4.57175433e+01] [-6.76794482e-02 1.53276674e-04 9.97707106e-01 -1.50076830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:-45.72, Z:-15.01 [[ 9.64549313e-01 2.55778995e-01 6.49748353e-02 2.21699043e+02] [-2.55186463e-01 9.66735261e-01 -1.74012841e-02 -4.57233067e+01] [-6.72643473e-02 2.03698241e-04 9.97735168e-01 -1.50101080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:221.73, Y:-45.73, Z:-15.01 [[ 9.64999328e-01 2.54365696e-01 6.38309437e-02 2.21726337e+02] [-2.53791167e-01 9.67108064e-01 -1.70890497e-02 -4.57297546e+01] [-6.60782884e-02 2.91191760e-04 9.97814399e-01 -1.50105532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.75, Y:-45.74, Z:-15.01 [[ 9.65588134e-01 2.51861855e-01 6.48472201e-02 2.21752410e+02] [-2.51263519e-01 9.67763085e-01 -1.73566975e-02 -4.57360380e+01] [-6.71282358e-02 4.65680453e-04 9.97744247e-01 -1.50145391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.78, Y:-45.74, Z:-15.02 [[ 9.66118331e-01 2.49758971e-01 6.50832258e-02 2.21779074e+02] [-2.49152186e-01 9.68307850e-01 -1.74096781e-02 -4.57425504e+01] [-6.73688217e-02 6.04181188e-04 9.97727957e-01 -1.50163928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.81, Y:-45.75, Z:-15.02 [[ 9.66802681e-01 2.47319477e-01 6.42312492e-02 2.21805591e+02] [-2.46723430e-01 9.68933692e-01 -1.71770011e-02 -4.57490485e+01] [-6.64840284e-02 7.59416622e-04 9.97787200e-01 -1.50160038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-45.76, Z:-15.02 [[ 9.67111088e-01 2.45633128e-01 6.60341558e-02 2.21831606e+02] [-2.44999600e-01 9.69362454e-01 -1.76530117e-02 -4.57567931e+01] [-6.83471958e-02 8.94081601e-04 9.97661196e-01 -1.50209361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.86, Y:-45.76, Z:-15.02 [[ 9.68032076e-01 2.42307319e-01 6.48156156e-02 2.21858281e+02] [-2.41689923e-01 9.70198922e-01 -1.73214664e-02 -4.57648018e+01] [-6.70811585e-02 1.10245391e-03 9.97746913e-01 -1.50209086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.88, Y:-45.77, Z:-15.03 [[ 9.68049821e-01 2.42027216e-01 6.55924654e-02 2.21884452e+02] [-2.41394613e-01 9.70268802e-01 -1.75240414e-02 -4.57730427e+01] [-6.78836178e-02 1.13047730e-03 9.97692606e-01 -1.50251646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:-45.78, Z:-15.03 [[ 9.68158510e-01 2.41637796e-01 6.54238166e-02 2.21911397e+02] [-2.41007898e-01 9.70365835e-01 -1.74739862e-02 -4.57817687e+01] [-6.77074119e-02 1.14993197e-03 9.97704557e-01 -1.50276589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:-45.79, Z:-15.03 [[ 9.68137709e-01 2.41751681e-01 6.53108038e-02 2.21937022e+02] [-2.41124545e-01 9.70337486e-01 -1.74389721e-02 -4.57900848e+01] [-6.75894219e-02 1.13528869e-03 9.97712574e-01 -1.50299359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.96, Y:-45.80, Z:-15.03 [[ 9.67834848e-01 2.43092168e-01 6.48220949e-02 2.21964155e+02] [-2.42477789e-01 9.70002650e-01 -1.73026327e-02 -4.57981562e+01] [-6.70837383e-02 1.02817258e-03 9.97746819e-01 -1.50297408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:-45.81, Z:-15.03 [[ 9.67434696e-01 2.44467888e-01 6.56167646e-02 2.21990105e+02] [-2.43841835e-01 9.69656934e-01 -1.75097266e-02 -4.58060729e+01] [-6.79063166e-02 9.39404737e-04 9.97691260e-01 -1.50338883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:-45.81, Z:-15.04 [[ 9.67185897e-01 2.45376227e-01 6.58934511e-02 2.22017044e+02] [-2.44747399e-01 9.69427534e-01 -1.75774407e-02 -4.58140247e+01] [-6.81920120e-02 8.73402012e-04 9.97671833e-01 -1.50362772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.04, Y:-45.82, Z:-15.04 [[ 9.66715122e-01 2.47119508e-01 6.62859164e-02 2.22043500e+02] [-2.46487601e-01 9.68984719e-01 -1.76769985e-02 -4.58235280e+01] [-6.85983713e-02 7.49965245e-04 9.97644075e-01 -1.50382369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:-45.83, Z:-15.04 [[ 9.66618020e-01 2.47477544e-01 6.63661786e-02 2.22069391e+02] [-2.46845293e-01 9.68893362e-01 -1.76933579e-02 -4.58324575e+01] [-6.86804586e-02 7.20539719e-04 9.97638449e-01 -1.50405469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-45.84, Z:-15.04 [[ 9.66586823e-01 2.47622280e-01 6.62806196e-02 2.22094611e+02] [-2.46992412e-01 9.68856394e-01 -1.76645636e-02 -4.58417290e+01] [-6.85905416e-02 7.03524315e-04 9.97644647e-01 -1.50430766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.12, Y:-45.85, Z:-15.05 [[ 9.66547543e-01 2.47796624e-01 6.62018099e-02 2.22121190e+02] [-2.47169081e-01 9.68811831e-01 -1.76374757e-02 -4.58519452e+01] [-6.85076036e-02 6.84418222e-04 9.97650360e-01 -1.50457820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:222.15, Y:-45.87, Z:-15.05 [[ 9.66439920e-01 2.48307290e-01 6.58587127e-02 2.22146143e+02] [-2.47687763e-01 9.68681103e-01 -1.75411566e-02 -4.58650807e+01] [-6.81516875e-02 6.40076765e-04 9.97674766e-01 -1.50484089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-45.87, Z:-15.05 [[ 9.66256397e-01 2.48965008e-01 6.60681467e-02 2.22171073e+02] [-2.48343403e-01 9.68512300e-01 -1.75919989e-02 -4.58743526e+01] [-6.83676049e-02 5.90793085e-04 9.97660023e-01 -1.50504535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:-45.88, Z:-15.05 [[ 9.65986093e-01 2.50008937e-01 6.60787363e-02 2.22196626e+02] [-2.49389940e-01 9.68243394e-01 -1.75894498e-02 -4.58833751e+01] [-6.83778195e-02 5.11791808e-04 9.97659367e-01 -1.50522536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:-45.89, Z:-15.05 [[ 9.65039213e-01 2.53643522e-01 6.60627073e-02 2.22223038e+02] [-2.53033969e-01 9.67297733e-01 -1.75757525e-02 -4.58945890e+01] [-6.83602828e-02 2.45181338e-04 9.97660670e-01 -1.50536920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-45.90, Z:-15.06 [[ 9.64464325e-01 2.55802519e-01 6.61334884e-02 2.22249430e+02] [-2.55197070e-01 9.66729054e-01 -1.75895282e-02 -4.59038256e+01] [-6.84326103e-02 8.73999916e-05 9.97655737e-01 -1.50560840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-45.91, Z:-15.06 [[ 9.63770106e-01 2.58349182e-01 6.63542264e-02 2.22275484e+02] [-2.57746056e-01 9.66051598e-01 -1.76431251e-02 -4.59129709e+01] [-6.86596934e-02 -9.86236310e-05 9.97640134e-01 -1.50584141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.30, Y:-45.92, Z:-15.06 [[ 9.62993994e-01 2.61129253e-01 6.67388991e-02 2.22301298e+02] [-2.60526089e-01 9.65303798e-01 -1.77407855e-02 -4.59215882e+01] [-6.90559508e-02 -3.02954461e-04 9.97612742e-01 -1.50602673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:-45.93, Z:-15.06 [[ 9.61191837e-01 2.67618494e-01 6.70118929e-02 2.22327888e+02] [-2.67026791e-01 9.63524639e-01 -1.78034306e-02 -4.59302307e+01] [-6.93321373e-02 -7.81458591e-04 9.97593326e-01 -1.50627925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.36, Y:-45.94, Z:-15.07 [[ 9.61208231e-01 2.67559271e-01 6.70132292e-02 2.22355369e+02] [-2.66967774e-01 9.63541086e-01 -1.77983991e-02 -4.59373998e+01] [-6.93321264e-02 -7.82404916e-04 9.97593326e-01 -1.50650664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:-45.94, Z:-15.07 [[ 9.60315706e-01 2.70774721e-01 6.68939071e-02 2.22381681e+02] [-2.70193400e-01 9.62642206e-01 -1.77625846e-02 -4.59440613e+01] [-6.92045572e-02 -1.01660327e-03 9.97601973e-01 -1.50673184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.41, Y:-45.95, Z:-15.07 [[ 9.59462347e-01 2.73736188e-01 6.70857961e-02 2.22408802e+02] [-2.73159184e-01 9.61804015e-01 -1.78072467e-02 -4.59506113e+01] [-6.93978759e-02 -1.23971857e-03 9.97588291e-01 -1.50695986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.43, Y:-45.96, Z:-15.07 [[ 9.58161875e-01 2.78323254e-01 6.67981098e-02 2.22434632e+02] [-2.77762621e-01 9.60486181e-01 -1.77263355e-02 -4.59565243e+01] [-6.90923127e-02 -1.56931918e-03 9.97609036e-01 -1.50710445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.46, Y:-45.97, Z:-15.07 [[ 9.57809585e-01 2.78937466e-01 6.92436907e-02 2.22459671e+02] [-2.79222304e-01 9.60209406e-01 -5.72730936e-03 -4.59700862e+01] [-6.80860043e-02 -1.38487110e-02 9.97583334e-01 -1.50706330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:-45.96, Z:-15.08 [[ 9.57485573e-01 2.81419911e-01 6.34366676e-02 2.22489534e+02] [-2.80075722e-01 9.59529021e-01 -2.93538287e-02 -4.59639247e+01] [-6.91300754e-02 1.03387970e-02 9.97554080e-01 -1.50768891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-45.98, Z:-15.08 [[ 9.57700322e-01 2.79447808e-01 6.86950994e-02 2.22513033e+02] [-2.79612015e-01 9.60084487e-01 -7.40938064e-03 -4.59825551e+01] [-6.80236345e-02 -1.21120090e-02 9.97610187e-01 -1.50771086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.54, Y:-45.98, Z:-15.08 [[ 9.58268126e-01 2.78134414e-01 6.60563920e-02 2.22541167e+02] [-2.77547221e-01 9.60541645e-01 -1.80910938e-02 -4.59821374e+01] [-6.84816713e-02 -9.97649420e-04 9.97651876e-01 -1.50796286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:-45.99, Z:-15.08 [[ 9.58916068e-01 2.75679517e-01 6.69386132e-02 2.22567616e+02] [-2.75330424e-01 9.61239258e-01 -1.45686717e-02 -4.59904598e+01] [-6.83603073e-02 -4.46010335e-03 9.97650728e-01 -1.50812319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:222.60, Y:-45.99, Z:-15.08 [[ 9.59581050e-01 2.73849634e-01 6.48890343e-02 2.22595390e+02] [-2.73029487e-01 9.61768501e-01 -2.13599995e-02 -4.59937486e+01] [-6.82576573e-02 2.78003104e-03 9.97663853e-01 -1.50836865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.62, Y:-46.00, Z:-15.09 [[ 9.60933602e-01 2.68549019e-01 6.69928053e-02 2.22621431e+02] [-2.68055576e-01 9.63263549e-01 -1.64177522e-02 -4.60043221e+01] [-6.89406986e-02 -2.18142526e-03 9.97618375e-01 -1.50887597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.65, Y:-46.01, Z:-15.09 [[ 9.61789219e-01 2.65895313e-01 6.52777253e-02 2.22648509e+02] [-2.65327202e-01 9.64001722e-01 -1.73826139e-02 -4.60110556e+01] [-6.75497952e-02 -6.01545568e-04 9.97715723e-01 -1.50893895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:-46.01, Z:-15.10 [[ 9.62305726e-01 2.64217900e-01 6.44716208e-02 2.22677017e+02] [-2.63015602e-01 9.64424075e-01 -2.66269824e-02 -4.60140006e+01] [-6.92133087e-02 8.66625555e-03 9.97564241e-01 -1.50967147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:-46.03, Z:-15.10 [[ 9.63236851e-01 2.60148671e-01 6.70629396e-02 2.22701435e+02] [-2.60201097e-01 9.65520426e-01 -8.10537349e-03 -4.60307866e+01] [-6.68592402e-02 -9.64245600e-03 9.97715824e-01 -1.50950178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:-46.03, Z:-15.10 [[ 9.64230049e-01 2.57321164e-01 6.36099948e-02 2.22731743e+02] [-2.56132317e-01 9.66283162e-01 -2.63265503e-02 -4.60287244e+01] [-6.82396455e-02 9.09227550e-03 9.97627526e-01 -1.51021992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:222.76, Y:-46.05, Z:-15.10 [[ 9.65000317e-01 2.53601368e-01 6.67887272e-02 2.22755744e+02] [-2.53726384e-01 9.67252512e-01 -6.74543588e-03 -4.60465214e+01] [-6.63122159e-02 -1.04367145e-02 9.97744339e-01 -1.50997223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:-46.04, Z:-15.11 [[ 9.65135493e-01 2.53918981e-01 6.35502245e-02 2.22786502e+02] [-2.52638880e-01 9.67168000e-01 -2.75618694e-02 -4.60429326e+01] [-6.84622254e-02 1.05456809e-02 9.97597971e-01 -1.51062931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:-46.06, Z:-15.11 [[ 9.65495587e-01 2.51688488e-01 6.68668516e-02 2.22811034e+02] [-2.51070246e-01 9.67808271e-01 -1.76318504e-02 -4.60550788e+01] [-6.91520258e-02 2.35196943e-04 9.97606106e-01 -1.51092787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:-46.06, Z:-15.11 [[ 9.65800512e-01 2.50301666e-01 6.76642261e-02 2.22837879e+02] [-2.49665617e-01 9.68167840e-01 -1.78357548e-02 -4.60611225e+01] [-6.99746467e-02 3.32350347e-04 9.97548715e-01 -1.51110401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:222.86, Y:-46.07, Z:-15.11 [[ 9.65906923e-01 2.49370665e-01 6.95563569e-02 2.22863782e+02] [-2.49402275e-01 9.68363805e-01 -8.36935311e-03 -4.60727215e+01] [-6.94429296e-02 -9.26349757e-03 9.97542915e-01 -1.51089002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:-46.07, Z:-15.12 [[ 9.65593443e-01 2.51461343e-01 6.63060709e-02 2.22894024e+02] [-2.50159690e-01 9.67817125e-01 -2.73887091e-02 -4.60696973e+01] [-7.10593525e-02 9.85925181e-03 9.97423362e-01 -1.51155384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:-46.08, Z:-15.12 [[ 9.65359440e-01 2.51809137e-01 6.83616178e-02 2.22919399e+02] [-2.51164592e-01 9.67776892e-01 -1.80065207e-02 -4.60811881e+01] [-7.06930005e-02 2.12746863e-04 9.97498097e-01 -1.51194616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:222.95, Y:-46.09, Z:-15.12 [[ 9.65253606e-01 2.52214538e-01 6.83615547e-02 2.22946227e+02] [-2.51571408e-01 9.67671326e-01 -1.80008720e-02 -4.60873667e+01] [-7.06915979e-02 1.77594074e-04 9.97498204e-01 -1.51216681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:-46.10, Z:-15.12 [[ 9.65105215e-01 2.51878798e-01 7.16170056e-02 2.22971665e+02] [-2.52187452e-01 9.67666258e-01 -4.84785645e-03 -4.61008455e+01] [-7.05224321e-02 -1.33822186e-02 9.97420424e-01 -1.51211448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:-46.10, Z:-15.12 [[ 9.64809070e-01 2.54664556e-01 6.54936865e-02 2.23001804e+02] [-2.53700591e-01 9.67014604e-01 -2.27764444e-02 -4.60966878e+01] [-6.91337044e-02 5.35913316e-03 9.97593009e-01 -1.51216660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:-46.10, Z:-15.13 [[ 9.64517146e-01 2.55564726e-01 6.62823139e-02 2.23029531e+02] [-2.54389257e-01 9.66759063e-01 -2.57491740e-02 -4.61016219e+01] [-7.06596083e-02 7.97401128e-03 9.97468613e-01 -1.51281713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:-46.11, Z:-15.13 [[ 9.64311099e-01 2.55819124e-01 6.82691780e-02 2.23055103e+02] [-2.55188720e-01 9.66724657e-01 -1.79486523e-02 -4.61117316e+01] [-7.05891062e-02 -1.13439532e-04 9.97505471e-01 -1.51314750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:-46.12, Z:-15.14 [[ 9.63621532e-01 2.57305356e-01 7.23014253e-02 2.23080595e+02] [-2.57356715e-01 9.66276720e-01 -8.76474556e-03 -4.61217012e+01] [-7.21184001e-02 -1.01613598e-02 9.97344315e-01 -1.51357619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-46.12, Z:-15.14 [[ 9.63452705e-01 2.59888558e-01 6.49370743e-02 2.23110453e+02] [-2.58631691e-01 9.65592641e-01 -2.72121378e-02 -4.61171480e+01] [-6.97748844e-02 9.42282247e-03 9.97518258e-01 -1.51354673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:-46.13, Z:-15.14 [[ 9.63329393e-01 2.59689030e-01 6.75136174e-02 2.23135568e+02] [-2.59083908e-01 9.65692204e-01 -1.77227583e-02 -4.61284361e+01] [-6.97997799e-02 -4.18837899e-04 9.97560933e-01 -1.51386939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-46.13, Z:-15.14 [[ 9.63236728e-01 2.60085066e-01 6.73109445e-02 2.23163026e+02] [-2.59484960e-01 9.65585602e-01 -1.76635682e-02 -4.61322556e+01] [-6.95885092e-02 -4.51980048e-04 9.97575679e-01 -1.51403109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:-46.14, Z:-15.14 [[ 9.63003351e-01 2.59229976e-01 7.36502873e-02 2.23187457e+02] [-2.59450161e-01 9.65733056e-01 -6.72886144e-03 -4.61439566e+01] [-7.28708396e-02 -1.26286628e-02 9.97261429e-01 -1.51444598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:-46.14, Z:-15.14 [[ 9.63185358e-01 2.61015601e-01 6.43802935e-02 2.23219388e+02] [-2.59594717e-01 9.65261601e-01 -2.96753215e-02 -4.61359993e+01] [-6.98895470e-02 1.18700511e-02 9.97484112e-01 -1.51434001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:-46.15, Z:-15.15 [[ 9.63130173e-01 2.60401325e-01 6.76122816e-02 2.23244605e+02] [-2.59797888e-01 9.65500339e-01 -1.77243345e-02 -4.61479021e+01] [-6.98951210e-02 -4.94686639e-04 9.97554223e-01 -1.51461765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:-46.15, Z:-15.15 [[ 9.62805257e-01 2.61569618e-01 6.77301421e-02 2.23271734e+02] [-2.60967278e-01 9.65184435e-01 -1.77506913e-02 -4.61513967e+01] [-7.00151204e-02 -5.84891927e-04 9.97545759e-01 -1.51485882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:-46.16, Z:-15.15 [[ 9.62578836e-01 2.62502270e-01 6.73390166e-02 2.23299357e+02] [-2.61909844e-01 9.64931150e-01 -1.76382751e-02 -4.61567875e+01] [-6.96076020e-02 -6.58521025e-04 9.97574232e-01 -1.51508582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.33, Y:-46.16, Z:-15.15 [[ 9.62294511e-01 2.63597504e-01 6.71239822e-02 2.23326243e+02] [-2.63011863e-01 9.64632473e-01 -1.75770331e-02 -4.61614577e+01] [-6.93832350e-02 -7.40121113e-04 9.97589805e-01 -1.51533785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-46.17, Z:-15.16 [[ 9.62075430e-01 2.64439085e-01 6.69539934e-02 2.23354294e+02] [-2.63858859e-01 9.64402055e-01 -1.75265308e-02 -4.61659397e+01] [-6.92052686e-02 -8.04559629e-04 9.97602117e-01 -1.51560986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:-46.18, Z:-15.16 [[ 9.61699664e-01 2.64561848e-01 7.16992668e-02 2.23380327e+02] [-2.64594592e-01 9.64315720e-01 -9.21374755e-03 -4.61756843e+01] [-7.15783362e-02 -1.01103803e-02 9.97383739e-01 -1.51606414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.41, Y:-46.17, Z:-15.16 [[ 9.61469782e-01 2.65694711e-01 7.05845507e-02 2.23410794e+02] [-2.65194950e-01 9.64053082e-01 -1.65315825e-02 -4.61743923e+01] [-7.24396077e-02 -2.82404934e-03 9.97368802e-01 -1.51628460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65264000000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:223.44, Y:-46.17, Z:-15.16 [[ 9.61573089e-01 2.66210864e-01 6.71488605e-02 2.23439448e+02] [-2.65250072e-01 9.63905187e-01 -2.30041331e-02 -4.61742903e+01] [-7.08490851e-02 4.30891527e-03 9.97477739e-01 -1.51632091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:-46.18, Z:-15.17 [[ 9.61824770e-01 2.65434090e-01 6.66172355e-02 2.23468362e+02] [-2.64504966e-01 9.64120376e-01 -2.25615296e-02 -4.61793860e+01] [-7.02156332e-02 4.07964843e-03 9.97523494e-01 -1.51655198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:-46.19, Z:-15.17 [[ 9.62583223e-01 2.62104055e-01 6.88113665e-02 2.23495241e+02] [-2.61487716e-01 9.65039372e-01 -1.79773146e-02 -4.61851887e+01] [-7.11176050e-02 -6.88665636e-04 9.97467700e-01 -1.51680029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:-46.20, Z:-15.17 [[ 9.62880837e-01 2.58917272e-01 7.63042600e-02 2.23520016e+02] [-2.59279222e-01 9.65787880e-01 -5.29681314e-03 -4.61987541e+01] [-7.50651659e-02 -1.46839093e-02 9.97070511e-01 -1.51735333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.55, Y:-46.19, Z:-15.17 [[ 9.63829996e-01 2.58335688e-01 6.55317593e-02 2.23552087e+02] [-2.56759687e-01 9.65959393e-01 -3.15739427e-02 -4.61894646e+01] [-7.14576946e-02 1.36059990e-02 9.97350828e-01 -1.51711111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.58, Y:-46.20, Z:-15.17 [[ 9.64701887e-01 2.54183737e-01 6.88541724e-02 2.23576838e+02] [-2.53548828e-01 9.67155938e-01 -1.79550112e-02 -4.62031296e+01] [-7.11565936e-02 -1.36661534e-04 9.97465148e-01 -1.51749773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:-46.21, Z:-15.18 [[ 9.66341520e-01 2.47953143e-01 6.85806549e-02 2.23603368e+02] [-2.47307949e-01 9.68771975e-01 -1.78784599e-02 -4.62094900e+01] [-7.08720368e-02 3.16156939e-04 9.97485366e-01 -1.51774482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:-46.22, Z:-15.18 [[ 9.67153539e-01 2.44927194e-01 6.80051517e-02 2.23629266e+02] [-2.44285711e-01 9.69541330e-01 -1.77228876e-02 -4.62163583e+01] [-7.02746223e-02 5.28066619e-04 9.97527543e-01 -1.51800945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.65, Y:-46.23, Z:-15.19 [[ 9.67724091e-01 2.40910344e-01 7.39749228e-02 2.23653904e+02] [-2.41148898e-01 9.70470655e-01 -5.82386823e-03 -4.62305704e+01] [-7.31935218e-02 -1.22030736e-02 9.97243096e-01 -1.51861385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:-46.22, Z:-15.18 [[ 9.68929026e-01 2.38679804e-01 6.48729063e-02 2.23683732e+02] [-2.37200310e-01 9.71005515e-01 -2.97372303e-02 -4.62248774e+01] [-7.00896261e-02 1.34253921e-02 9.97450351e-01 -1.51840969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:-46.24, Z:-15.19 [[ 9.69297037e-01 2.36321975e-01 6.79351038e-02 2.23707705e+02] [-2.35662816e-01 9.71674156e-01 -1.76740201e-02 -4.62394621e+01] [-7.01875440e-02 1.12159747e-03 9.97533183e-01 -1.51873092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:-46.25, Z:-15.19 [[ 9.69530665e-01 2.35318311e-01 6.80851084e-02 2.23734796e+02] [-2.34654205e-01 9.71917627e-01 -1.77067632e-02 -4.62476418e+01] [-7.03398426e-02 1.19079291e-03 9.97522375e-01 -1.51897787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:-46.26, Z:-15.19 [[ 9.69642958e-01 2.34792461e-01 6.83010566e-02 2.23760006e+02] [-2.34123196e-01 9.72044748e-01 -1.77577140e-02 -4.62564287e+01] [-7.05610607e-02 1.22778069e-03 9.97506706e-01 -1.51915320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:-46.26, Z:-15.19 [[ 9.69551877e-01 2.35105350e-01 6.85173817e-02 2.23786335e+02] [-2.34433061e-01 9.71969150e-01 -1.78076394e-02 -4.62645477e+01] [-7.07834525e-02 1.20269064e-03 9.97490981e-01 -1.51941352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.81, Y:-46.27, Z:-15.20 [[ 9.69419710e-01 2.35728497e-01 6.82458945e-02 2.23811798e+02] [-2.35063439e-01 9.71818275e-01 -1.77319248e-02 -4.62729130e+01] [-7.05025274e-02 1.14756271e-03 9.97510941e-01 -1.51961821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.84, Y:-46.28, Z:-15.20 [[ 9.68955289e-01 2.37847040e-01 6.74865463e-02 2.23838479e+02] [-2.37202281e-01 9.71302132e-01 -1.75284219e-02 -4.62820462e+01] [-6.97189096e-02 9.76294357e-04 9.97566199e-01 -1.51979319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:-46.29, Z:-15.20 [[ 9.68526604e-01 2.39484059e-01 6.78498498e-02 2.23863774e+02] [-2.38836669e-01 9.70899917e-01 -1.76180870e-02 -4.62901755e+01] [-7.00946645e-02 8.58553817e-04 9.97539975e-01 -1.52007336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:-46.30, Z:-15.20 [[ 9.68102568e-01 2.41130294e-01 6.80705515e-02 2.23890785e+02] [-2.40483382e-01 9.70492475e-01 -1.76663157e-02 -4.62988424e+01] [-7.03218419e-02 7.32969105e-04 9.97524086e-01 -1.52029575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:-46.31, Z:-15.20 [[ 9.67147411e-01 2.44908921e-01 6.81579427e-02 2.23917399e+02] [-2.44270072e-01 9.69545984e-01 -1.76838202e-02 -4.63076205e+01] [-7.04131849e-02 4.53915353e-04 9.97517808e-01 -1.52046729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:-46.31, Z:-15.21 [[ 9.66552614e-01 2.47112043e-01 6.86416953e-02 2.23943346e+02] [-2.46469990e-01 9.68986870e-01 -1.78042197e-02 -4.63147360e+01] [-7.09125385e-02 2.90597078e-04 9.97482495e-01 -1.52071244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.97, Y:-46.33, Z:-15.20 [[ 9.66184342e-01 2.48248474e-01 6.97173702e-02 2.23968073e+02] [-2.48501442e-01 9.68617786e-01 -5.15919363e-03 -4.63290822e+01] [-6.88102467e-02 -1.23401349e-02 9.97553443e-01 -1.52036554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.99, Y:-46.33, Z:-15.20 [[ 9.64797762e-01 2.54376648e-01 6.67667530e-02 2.23994852e+02] [-2.53851722e-01 9.67104542e-01 -1.63739861e-02 -4.63315232e+01] [-6.87355898e-02 -1.15127004e-03 9.97634248e-01 -1.52043121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:-46.34, Z:-15.21 [[ 9.64235513e-01 2.56294768e-01 6.75489921e-02 2.24022719e+02] [-2.55750119e-01 9.66598004e-01 -1.67384298e-02 -4.63383577e+01] [-6.95826930e-02 -1.13587430e-03 9.97575540e-01 -1.52076049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:-46.34, Z:-15.21 [[ 9.64255075e-01 2.56227527e-01 6.75248401e-02 2.24050235e+02] [-2.55637740e-01 9.66616368e-01 -1.73822402e-02 -4.63449717e+01] [-6.97244242e-02 -5.00984181e-04 9.97566165e-01 -1.52100720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:-46.34, Z:-15.22 [[ 9.63381157e-01 2.59644548e-01 6.69436660e-02 2.24079050e+02] [-2.58097803e-01 9.65622808e-01 -3.09534509e-02 -4.63439113e+01] [-7.26792255e-02 1.25419582e-02 9.97276506e-01 -1.52180089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-46.36, Z:-15.22 [[ 9.62897860e-01 2.60469940e-01 7.05912217e-02 2.24102885e+02] [-2.59829881e-01 9.65481662e-01 -1.82645216e-02 -4.63575803e+01] [-7.29118889e-02 -7.54839945e-04 9.97338100e-01 -1.52216634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-46.37, Z:-15.22 [[ 9.62401587e-01 2.62216840e-01 7.08908629e-02 2.24126510e+02] [-2.62660292e-01 9.64883201e-01 -3.15896770e-03 -4.63725056e+01] [-6.92297373e-02 -1.55800192e-02 9.97479076e-01 -1.52170370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:-46.36, Z:-15.23 [[ 9.61970975e-01 2.64805255e-01 6.70076082e-02 2.24159473e+02] [-2.63177861e-01 9.64209502e-01 -3.22094742e-02 -4.63636868e+01] [-7.31386106e-02 1.33496603e-02 9.97232435e-01 -1.52257572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-46.38, Z:-15.23 [[ 9.61946098e-01 2.64019737e-01 7.03795675e-02 2.24182266e+02] [-2.63708208e-01 9.64503062e-01 -1.38500931e-02 -4.63799949e+01] [-7.15380063e-02 -5.23662662e-03 9.97424128e-01 -1.52268943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:-46.38, Z:-15.23 [[ 9.62005262e-01 2.64042436e-01 6.94799875e-02 2.24212635e+02] [-2.63133372e-01 9.64506490e-01 -2.20920400e-02 -4.63827134e+01] [-7.28471349e-02 2.97015532e-03 9.97338695e-01 -1.52321754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:-46.39, Z:-15.24 [[ 9.62341001e-01 2.62474789e-01 7.07586280e-02 2.24238491e+02] [-2.61839692e-01 9.64938389e-01 -1.82723913e-02 -4.63920351e+01] [-7.30737586e-02 -9.43145999e-04 9.97326093e-01 -1.52352823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.26, Y:-46.41, Z:-15.23 [[ 9.63016682e-01 2.59651764e-01 7.19710456e-02 2.24263171e+02] [-2.60198605e-01 9.65553375e-01 -1.83461830e-03 -4.64075529e+01] [-6.99682479e-02 -1.69599977e-02 9.97405034e-01 -1.52294353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:224.30, Y:-46.40, Z:-15.24 [[ 9.63820270e-01 2.58114424e-01 6.65389511e-02 2.24295129e+02] [-2.56400804e-01 9.65997828e-01 -3.32689525e-02 -4.63980064e+01] [-7.28636788e-02 1.50046502e-02 9.97229033e-01 -1.52366813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:-46.42, Z:-15.23 [[ 9.64775666e-01 2.52831726e-01 7.26913569e-02 2.24317113e+02] [-2.53536638e-01 9.67325662e-01 4.86466089e-04 -4.64245720e+01] [-7.01932209e-02 -1.88992529e-02 9.97354365e-01 -1.52341125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:-46.42, Z:-15.24 [[ 9.65097570e-01 2.53137614e-01 6.71418594e-02 2.24347554e+02] [-2.51633145e-01 9.67353554e-01 -3.01307425e-02 -4.64156221e+01] [-7.25771406e-02 1.21839891e-02 9.97288378e-01 -1.52408036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:-46.44, Z:-15.24 [[ 9.66083345e-01 2.48191838e-01 7.13006527e-02 2.24372258e+02] [-2.48370863e-01 9.68643306e-01 -6.48533185e-03 -4.64368839e+01] [-7.06745065e-02 -1.14436336e-02 9.97433786e-01 -1.52394739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:-46.44, Z:-15.24 [[ 9.66768773e-01 2.46345688e-01 6.83516046e-02 2.24401484e+02] [-2.45713552e-01 9.69181993e-01 -1.76384409e-02 -4.64388184e+01] [-7.05902983e-02 2.57378327e-04 9.97505360e-01 -1.52416347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:-46.44, Z:-15.25 [[ 9.67579522e-01 2.43496076e-01 6.70785342e-02 2.24429646e+02] [-2.41597206e-01 9.69737158e-01 -3.52226472e-02 -4.64390303e+01] [-7.36251235e-02 1.78747257e-02 9.97125787e-01 -1.52517676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:-46.46, Z:-15.26 [[ 9.68027652e-01 2.40417685e-01 7.15667664e-02 2.24452654e+02] [-2.39711322e-01 9.70669289e-01 -1.84286024e-02 -4.64566554e+01] [-7.38982242e-02 6.84032555e-04 9.97265554e-01 -1.52553294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.48, Y:-46.46, Z:-15.26 [[ 9.68488646e-01 2.38849228e-01 7.05747061e-02 2.24479178e+02] [-2.38158632e-01 9.71056346e-01 -1.81669619e-02 -4.64649859e+01] [-7.28711811e-02 7.86520917e-04 9.97341051e-01 -1.52559094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.51, Y:-46.48, Z:-15.26 [[ 9.68904561e-01 2.36884377e-01 7.14824752e-02 2.24505267e+02] [-2.36170932e-01 9.71537393e-01 -1.83952375e-02 -4.64755241e+01] [-7.38054420e-02 9.41146751e-04 9.97272215e-01 -1.52588277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.53, Y:-46.48, Z:-15.26 [[ 9.68877487e-01 2.36604951e-01 7.27634046e-02 2.24532080e+02] [-2.35865299e-01 9.71605449e-01 -1.87193243e-02 -4.64844617e+01] [-7.51264052e-02 9.74369707e-04 9.97173542e-01 -1.52628996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.56, Y:-46.49, Z:-15.26 [[ 9.68982329e-01 2.36446039e-01 7.18784864e-02 2.24559732e+02] [-2.35724280e-01 9.71644138e-01 -1.84859984e-02 -4.64932416e+01] [-7.42112511e-02 9.69101335e-04 9.97242072e-01 -1.52636942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:-46.50, Z:-15.27 [[ 9.68848014e-01 2.36659203e-01 7.29790920e-02 2.24586001e+02] [-2.35915939e-01 9.71592245e-01 -1.87664320e-02 -4.65016439e+01] [-7.53471687e-02 9.64889276e-04 9.97156895e-01 -1.52678285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.61, Y:-46.51, Z:-15.27 [[ 9.68531362e-01 2.38108806e-01 7.24651480e-02 2.24612214e+02] [-2.37380382e-01 9.71238121e-01 -1.86297129e-02 -4.65124077e+01] [-7.48168129e-02 8.41656626e-04 9.97196939e-01 -1.52704387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.64, Y:-46.52, Z:-15.27 [[ 9.68243921e-01 2.39478817e-01 7.17886138e-02 2.24639101e+02] [-2.38768034e-01 9.70901319e-01 -1.84514285e-02 -4.65213218e+01] [-7.41183861e-02 7.24657346e-04 9.97249186e-01 -1.52734705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.67, Y:-46.53, Z:-15.28 [[ 9.67832158e-01 2.41295166e-01 7.12569704e-02 2.24666056e+02] [-2.40600190e-01 9.70451602e-01 -1.83094975e-02 -4.65295774e+01] [-7.35694343e-02 5.76079874e-04 9.97289931e-01 -1.52756902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:-46.54, Z:-15.28 [[ 9.67327856e-01 2.43399558e-01 7.09469868e-02 2.24694086e+02] [-2.42716678e-01 9.69926022e-01 -1.82243278e-02 -4.65376713e+01] [-7.32491220e-02 4.08883025e-04 9.97313591e-01 -1.52782644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:-46.55, Z:-15.28 [[ 9.66748548e-01 2.45764026e-01 7.06915018e-02 2.24720885e+02] [-2.45092630e-01 9.69329661e-01 -1.81551673e-02 -4.65452728e+01] [-7.29852565e-02 2.25515583e-04 9.97332994e-01 -1.52805317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:-46.55, Z:-15.28 [[ 9.66163971e-01 2.48222287e-01 7.00919263e-02 2.24747198e+02] [-2.47569019e-01 9.68703100e-01 -1.79968272e-02 -4.65528711e+01] [-7.23654799e-02 3.52966438e-05 9.97378181e-01 -1.52832434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:-46.56, Z:-15.29 [[ 9.65035731e-01 2.52806746e-01 6.92444067e-02 2.24773855e+02] [-2.52181362e-01 9.67516746e-01 -1.77737843e-02 -4.65611029e+01] [-7.14884557e-02 -3.09811833e-04 9.97441379e-01 -1.52858142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:-46.57, Z:-15.29 [[ 9.64535695e-01 2.54744322e-01 6.91102275e-02 2.24800364e+02] [-2.54126598e-01 9.67008336e-01 -1.77355591e-02 -4.65677823e+01] [-7.13481991e-02 -4.56167148e-04 9.97451365e-01 -1.52882539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.83, Y:-46.58, Z:-15.29 [[ 9.64052322e-01 2.56184705e-01 7.05160750e-02 2.24826845e+02] [-2.55985154e-01 9.66606152e-01 -1.20061868e-02 -4.65780597e+01] [-7.12370733e-02 -6.47647609e-03 9.97438386e-01 -1.52894640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:-46.58, Z:-15.29 [[ 9.63707889e-01 2.58184923e-01 6.78796709e-02 2.24855569e+02] [-2.57175553e-01 9.66082282e-01 -2.33614964e-02 -4.65781797e+01] [-7.16089335e-02 5.05666644e-03 9.97419967e-01 -1.52927371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.88, Y:-46.59, Z:-15.29 [[ 9.63137134e-01 2.59548923e-01 7.07192811e-02 2.24880392e+02] [-2.58916360e-01 9.65729587e-01 -1.81296153e-02 -4.65884224e+01] [-7.30012243e-02 -8.49073081e-04 9.97331490e-01 -1.52947054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:-46.60, Z:-15.30 [[ 9.63094340e-01 2.59685410e-01 7.08009932e-02 2.24906457e+02] [-2.59052206e-01 9.65692879e-01 -1.81443415e-02 -4.65954166e+01] [-7.30838358e-02 -8.66440930e-04 9.97325424e-01 -1.52968321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:-46.60, Z:-15.30 [[ 9.63246426e-01 2.59134892e-01 7.07490705e-02 2.24933755e+02] [-2.58501583e-01 9.65840783e-01 -1.81249166e-02 -4.66024619e+01] [-7.30291360e-02 -8.29985607e-04 9.97329462e-01 -1.52992372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:-46.61, Z:-15.30 [[ 9.63474621e-01 2.58377955e-01 7.04094320e-02 2.24961068e+02] [-2.57749099e-01 9.66043598e-01 -1.80324308e-02 -4.66094458e+01] [-7.26777636e-02 -7.74178259e-04 9.97355174e-01 -1.53016318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:-46.62, Z:-15.30 [[ 9.63770697e-01 2.57245299e-01 7.05046067e-02 2.24986835e+02] [-2.56612088e-01 9.66345887e-01 -1.80516736e-02 -4.66160969e+01] [-7.27755448e-02 -6.94660288e-04 9.97348102e-01 -1.53044275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:-46.62, Z:-15.31 [[ 9.64605034e-01 2.54213879e-01 7.00887437e-02 2.25013849e+02] [-2.53580735e-01 9.67147911e-01 -1.79368063e-02 -4.66244606e+01] [-7.23459671e-02 -4.71221495e-04 9.97379486e-01 -1.53071145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.04, Y:-46.63, Z:-15.31 [[ 9.65160870e-01 2.52367464e-01 6.91025134e-02 2.25040917e+02] [-2.51747679e-01 9.67631413e-01 -1.76791934e-02 -4.66328251e+01] [-7.13274159e-02 -3.33131725e-04 9.97452901e-01 -1.53092519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.07, Y:-46.64, Z:-15.31 [[ 9.65690460e-01 2.50080988e-01 7.00102529e-02 2.25066571e+02] [-2.49439158e-01 9.68224907e-01 -1.79063187e-02 -4.66399552e+01] [-7.22637004e-02 -1.71337391e-04 9.97385546e-01 -1.53122838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:-46.65, Z:-15.31 [[ 9.66879642e-01 2.45267514e-01 7.06229740e-02 2.25094233e+02] [-2.44602168e-01 9.69455421e-01 -1.80545364e-02 -4.66490924e+01] [-7.28940162e-02 1.82031176e-04 9.97339676e-01 -1.53144960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:-46.66, Z:-15.32 [[ 9.67487647e-01 2.42839453e-01 7.06870027e-02 2.25121419e+02] [-2.42166685e-01 9.70066425e-01 -1.80673102e-02 -4.66580100e+01] [-7.29585437e-02 3.61862368e-04 9.97334909e-01 -1.53167486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:-46.67, Z:-15.32 [[ 9.68033163e-01 2.40757901e-01 7.03379655e-02 2.25147460e+02] [-2.40086527e-01 9.70585066e-01 -1.79746922e-02 -4.66663985e+01] [-7.25965281e-02 5.12900338e-04 9.97361259e-01 -1.53187773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:-46.67, Z:-15.32 [[ 9.68497263e-01 2.38995421e-01 6.99588465e-02 2.25175408e+02] [-2.38327007e-01 9.71020485e-01 -1.78732945e-02 -4.66747213e+01] [-7.22031086e-02 6.37154312e-04 9.97389746e-01 -1.53207564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.20, Y:-46.69, Z:-15.32 [[ 9.68835632e-01 2.37011096e-01 7.19948569e-02 2.25201582e+02] [-2.36765432e-01 9.71492100e-01 -1.20511458e-02 -4.66879959e+01] [-7.27986900e-02 -5.37031399e-03 9.97332197e-01 -1.53244655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:-46.69, Z:-15.33 [[ 9.69123404e-01 2.37062474e-01 6.78322248e-02 2.25231343e+02] [-2.35993719e-01 9.71471019e-01 -2.34739001e-02 -4.66898872e+01] [-7.14618214e-02 6.74112701e-03 9.97420556e-01 -1.53262928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:-46.70, Z:-15.33 [[ 9.69032832e-01 2.36100706e-01 7.23313663e-02 2.25256411e+02] [-2.35774994e-01 9.71718949e-01 -1.31315018e-02 -4.67049920e+01] [-7.33861161e-02 -4.32907106e-03 9.97294208e-01 -1.53294575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:-46.72, Z:-15.33 [[ 9.69281852e-01 2.35213565e-01 7.18837261e-02 2.25285194e+02] [-2.35213288e-01 9.71905821e-01 -8.58973027e-03 -4.67154714e+01] [-7.18846329e-02 -8.58213790e-03 9.97376031e-01 -1.53262248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:-46.71, Z:-15.33 [[ 9.68981584e-01 2.37522189e-01 6.82488017e-02 2.25316205e+02] [-2.35820915e-01 9.71266068e-01 -3.21048633e-02 -4.67119125e+01] [-7.39133627e-02 1.50145265e-02 9.97151633e-01 -1.53331488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:-46.73, Z:-15.34 [[ 9.68847391e-01 2.36806047e-01 7.25095114e-02 2.25341925e+02] [-2.36081668e-01 9.71556588e-01 -1.85267771e-02 -4.67286546e+01] [-7.48343464e-02 8.31453280e-04 9.97195632e-01 -1.53361115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:-46.74, Z:-15.34 [[ 9.68708584e-01 2.37316948e-01 7.26935043e-02 2.25370162e+02] [-2.36590469e-01 9.71431953e-01 -1.85717795e-02 -4.67382092e+01] [-7.50241908e-02 7.92051950e-04 9.97181399e-01 -1.53383058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:-46.75, Z:-15.34 [[ 9.68590233e-01 2.37847109e-01 7.25376675e-02 2.25399550e+02] [-2.37125309e-01 9.71302318e-01 -1.85309194e-02 -4.67471594e+01] [-7.48635302e-02 7.48350739e-04 9.97193508e-01 -1.53406062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:-46.76, Z:-15.34 [[ 9.68405888e-01 2.38629301e-01 7.24299144e-02 2.25427466e+02] [-2.37911841e-01 9.71110491e-01 -1.85032672e-02 -4.67553457e+01] [-7.47528715e-02 6.86738566e-04 9.97201853e-01 -1.53424968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:-46.76, Z:-15.35 [[ 9.68049202e-01 2.40161156e-01 7.21343345e-02 2.25453816e+02] [-2.39453674e-01 9.70732866e-01 -1.84293530e-02 -4.67640115e+01] [-7.44491840e-02 5.67689038e-04 9.97224647e-01 -1.53452297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:-46.77, Z:-15.35 [[ 9.67812058e-01 2.41299621e-01 7.15144330e-02 2.25482560e+02] [-2.40607637e-01 9.70450550e-01 -1.82673365e-02 -4.67727245e+01] [-7.38091222e-02 4.72429777e-04 9.97272275e-01 -1.53470990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:225.51, Y:-46.78, Z:-15.35 [[ 9.67467920e-01 2.42667123e-01 7.15436381e-02 2.25510726e+02] [-2.41978439e-01 9.70109547e-01 -1.82729886e-02 -4.67807404e+01] [-7.38394199e-02 3.66512415e-04 9.97270077e-01 -1.53506429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:-46.79, Z:-15.35 [[ 9.67088865e-01 2.44003971e-01 7.21192720e-02 2.25538303e+02] [-2.43307966e-01 9.69774196e-01 -1.84185216e-02 -4.67869728e+01] [-7.44336015e-02 2.65153741e-04 9.97225937e-01 -1.53518862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:-46.79, Z:-15.35 [[ 9.66342583e-01 2.46998689e-01 7.19281589e-02 2.25566044e+02] [-2.46314993e-01 9.69015813e-01 -1.83651194e-02 -4.67946781e+01] [-7.42356839e-02 3.00129532e-05 9.97240724e-01 -1.53536475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-46.80, Z:-15.36 [[ 9.65939760e-01 2.48482161e-01 7.22287796e-02 2.25594186e+02] [-2.47797156e-01 9.68636468e-01 -1.84380492e-02 -4.68024656e+01] [-7.45449563e-02 -8.80413507e-05 9.97217650e-01 -1.53559293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:-46.81, Z:-15.36 [[ 9.65548557e-01 2.49737905e-01 7.31229321e-02 2.25621633e+02] [-2.49039544e-01 9.68313453e-01 -1.86644732e-02 -4.68094336e+01] [-7.54671453e-02 -1.89046447e-04 9.97148271e-01 -1.53581127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:-46.82, Z:-15.36 [[ 9.65139606e-01 2.51424606e-01 7.27406953e-02 2.25650200e+02] [-2.50738539e-01 9.67876833e-01 -1.85639791e-02 -4.68154090e+01] [-7.50714750e-02 -3.22064212e-04 9.97178103e-01 -1.53596947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:-46.83, Z:-15.36 [[ 9.65117652e-01 2.50928180e-01 7.47192452e-02 2.25673986e+02] [-2.51429587e-01 9.67871623e-01 -2.77214069e-03 -4.68303989e+01] [-7.30142454e-02 -1.61111870e-02 9.97200757e-01 -1.53561334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:-46.83, Z:-15.36 [[ 9.64915623e-01 2.52174151e-01 7.31166081e-02 2.25703193e+02] [-2.51375444e-01 9.67681356e-01 -2.00793057e-02 -4.68277233e+01] [-7.58170603e-02 9.95115951e-04 9.97121248e-01 -1.53630063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.73, Y:-46.83, Z:-15.37 [[ 9.65031694e-01 2.52731141e-01 6.95758614e-02 2.25733983e+02] [-2.51085105e-01 9.67448726e-01 -3.16106296e-02 -4.68288216e+01] [-7.53000690e-02 1.30357969e-02 9.97075708e-01 -1.53683689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.76, Y:-46.84, Z:-15.37 [[ 9.65252700e-01 2.51197523e-01 7.20210355e-02 2.25760484e+02] [-2.50524539e-01 9.67935800e-01 -1.83777854e-02 -4.68430173e+01] [-7.43281927e-02 -3.03829736e-04 9.97233788e-01 -1.53709727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:-46.85, Z:-15.37 [[ 9.65261806e-01 2.51162266e-01 7.20219550e-02 2.25788822e+02] [-2.50489453e-01 9.67944948e-01 -1.83741811e-02 -4.68501628e+01] [-7.43281885e-02 -3.04844935e-04 9.97233788e-01 -1.53734452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:-46.86, Z:-15.38 [[ 9.65446527e-01 2.50525748e-01 7.17624815e-02 2.25816791e+02] [-2.49856221e-01 9.68109902e-01 -1.83053437e-02 -4.68565086e+01] [-7.40599289e-02 -2.57471944e-04 9.97253759e-01 -1.53764000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.84, Y:-46.86, Z:-15.38 [[ 9.65764208e-01 2.49174795e-01 7.21901392e-02 2.25844123e+02] [-2.48493753e-01 9.68458516e-01 -1.84108194e-02 -4.68624019e+01] [-7.45006672e-02 -1.58288138e-04 9.97220951e-01 -1.53794269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:-46.87, Z:-15.38 [[ 9.65957694e-01 2.48550974e-01 7.17505844e-02 2.25871134e+02] [-2.47876831e-01 9.68618811e-01 -1.82941573e-02 -4.68690886e+01] [-7.40459963e-02 -1.13925486e-04 9.97254821e-01 -1.53815837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:-46.88, Z:-15.38 [[ 9.66106234e-01 2.48016920e-01 7.15985503e-02 2.25899858e+02] [-2.47344530e-01 9.68755697e-01 -1.82505450e-02 -4.68758494e+01] [-7.38879474e-02 -7.75444398e-05 9.97266547e-01 -1.53834538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.93, Y:-46.88, Z:-15.39 [[ 9.66113629e-01 2.47817576e-01 7.21866001e-02 2.25927747e+02] [-2.47133657e-01 9.68806712e-01 -1.83986609e-02 -4.68829663e+01] [-7.44943742e-02 -6.45414477e-05 9.97221432e-01 -1.53877147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:-46.89, Z:-15.39 [[ 9.66480958e-01 2.46439967e-01 7.19854161e-02 2.25956549e+02] [-2.45756261e-01 9.69158058e-01 -1.83444591e-02 -4.68887012e+01] [-7.42860540e-02 3.87037531e-05 9.97236973e-01 -1.53887341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.99, Y:-46.90, Z:-15.39 [[ 9.66490499e-01 2.46160398e-01 7.28091643e-02 2.25985394e+02] [-2.45460284e-01 9.69229103e-01 -1.85524613e-02 -4.68960007e+01] [-7.51356423e-02 5.90193759e-05 9.97173321e-01 -1.53928999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:-46.90, Z:-15.39 [[ 9.66752342e-01 2.45218379e-01 7.25110770e-02 2.26013567e+02] [-2.44521480e-01 9.69467859e-01 -1.84747502e-02 -4.69015190e+01] [-7.48275069e-02 1.29992198e-04 9.97196484e-01 -1.53935654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-46.91, Z:-15.40 [[ 9.66987355e-01 2.44324022e-01 7.23963200e-02 2.26040286e+02] [-2.43627021e-01 9.69693629e-01 -1.84429164e-02 -4.69077010e+01] [-7.47082978e-02 1.96367166e-04 9.97205411e-01 -1.53962422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:-46.92, Z:-15.40 [[ 9.67281280e-01 2.43200967e-01 7.22510597e-02 2.26069320e+02] [-2.42503983e-01 9.69975882e-01 -1.84012413e-02 -4.69150657e+01] [-7.45569851e-02 2.78006495e-04 9.97216716e-01 -1.53993192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:-46.92, Z:-15.40 [[ 9.67617184e-01 2.41873691e-01 7.22087400e-02 2.26096807e+02] [-2.41173962e-01 9.70307670e-01 -1.83887307e-02 -4.69223793e+01] [-7.45124444e-02 3.78383836e-04 9.97220012e-01 -1.54018499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:-46.93, Z:-15.40 [[ 9.68434599e-01 2.38862343e-01 7.12685688e-02 2.26125649e+02] [-2.38172821e-01 9.71053254e-01 -1.81462212e-02 -4.69302662e+01] [-7.35400246e-02 5.99192342e-04 9.97292086e-01 -1.54047523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.15, Y:-46.94, Z:-15.41 [[ 9.68714526e-01 2.37701420e-01 7.13456551e-02 2.26154062e+02] [-2.37007248e-01 9.71338026e-01 -1.81659817e-02 -4.69381617e+01] [-7.36188275e-02 6.88213005e-04 9.97286215e-01 -1.54078612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:-46.95, Z:-15.41 [[ 9.69011403e-01 2.36568119e-01 7.10804193e-02 2.26182704e+02] [-2.35876149e-01 9.71614601e-01 -1.80972505e-02 -4.69464805e+01] [-7.33440057e-02 7.70266519e-04 9.97306404e-01 -1.54105135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.21, Y:-46.96, Z:-15.41 [[ 9.69305042e-01 2.35483229e-01 7.06780333e-02 2.26211964e+02] [-2.34796118e-01 9.71878042e-01 -1.79959501e-02 -4.69552864e+01] [-7.29281731e-02 8.48637287e-04 9.97336834e-01 -1.54130358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.24, Y:-46.96, Z:-15.42 [[ 9.69307456e-01 2.35431708e-01 7.08164230e-02 2.26240455e+02] [-2.34741743e-01 9.71890519e-01 -1.80314608e-02 -4.69619612e+01] [-7.30709877e-02 8.54458851e-04 9.97326376e-01 -1.54159038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:-46.97, Z:-15.42 [[ 9.69240840e-01 2.35738095e-01 7.07088764e-02 2.26268342e+02] [-2.35051161e-01 9.71816271e-01 -1.80024330e-02 -4.69689857e+01] [-7.29598958e-02 8.28489809e-04 9.97334531e-01 -1.54183156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.30, Y:-46.98, Z:-15.42 [[ 9.69116587e-01 2.36249368e-01 7.07055696e-02 2.26297540e+02] [-2.35564081e-01 9.71692141e-01 -1.79985174e-02 -4.69772771e+01] [-7.29561846e-02 7.86969160e-04 9.97334836e-01 -1.54224901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:-46.98, Z:-15.42 [[ 9.69005479e-01 2.36598782e-01 7.10591144e-02 2.26326326e+02] [-2.35907543e-01 9.71607139e-01 -1.80886489e-02 -4.69849164e+01] [-7.33212951e-02 7.64618828e-04 9.97308078e-01 -1.54234649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:-46.99, Z:-15.43 [[ 9.68926838e-01 2.36728797e-01 7.16956036e-02 2.26356080e+02] [-2.36025535e-01 9.71575472e-01 -1.82496278e-02 -4.69928117e+01] [-7.39779024e-02 7.60560919e-04 9.97259591e-01 -1.54258502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:-47.00, Z:-15.43 [[ 9.68940308e-01 2.36550011e-01 7.21025064e-02 2.26384523e+02] [-2.35838228e-01 9.71619002e-01 -1.83533252e-02 -4.70001840e+01] [-7.43976446e-02 7.78749274e-04 9.97228351e-01 -1.54283235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:-47.01, Z:-15.43 [[ 9.68993610e-01 2.36276986e-01 7.22811869e-02 2.26413160e+02] [-2.35560968e-01 9.71685414e-01 -1.83979897e-02 -4.70079389e+01] [-7.45815966e-02 8.00908116e-04 9.97214593e-01 -1.54307519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:-47.02, Z:-15.43 [[ 9.69241276e-01 2.35314076e-01 7.21015590e-02 2.26443278e+02] [-2.34599126e-01 9.71918992e-01 -1.83499951e-02 -4.70165792e+01] [-7.43948867e-02 8.70609919e-04 9.97228481e-01 -1.54334898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:-47.02, Z:-15.44 [[ 9.69341700e-01 2.34903933e-01 7.20889043e-02 2.26472254e+02] [-2.34187956e-01 9.72018171e-01 -1.83487285e-02 -4.70248683e+01] [-7.43819134e-02 9.03834499e-04 9.97229419e-01 -1.54359608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:-47.03, Z:-15.44 [[ 9.69513282e-01 2.34488578e-01 7.11273751e-02 2.26503365e+02] [-2.33790551e-01 9.72118437e-01 -1.81030970e-02 -4.70339637e+01] [-7.33892022e-02 9.22284779e-04 9.97302950e-01 -1.54389940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:-47.04, Z:-15.44 [[ 9.69662900e-01 2.34111919e-01 7.03240372e-02 2.26532592e+02] [-2.33427677e-01 9.72209186e-01 -1.79113751e-02 -4.70429654e+01] [-7.25629414e-02 9.52419211e-04 9.97363380e-01 -1.54419782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:-47.05, Z:-15.45 [[ 9.69738375e-01 2.33650166e-01 7.08172538e-02 2.26560618e+02] [-2.32954046e-01 9.72320207e-01 -1.80506818e-02 -4.70534163e+01] [-7.30745917e-02 1.00727306e-03 9.97325970e-01 -1.54453684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:-47.06, Z:-15.45 [[ 9.69715483e-01 2.33857859e-01 7.04441904e-02 2.26591842e+02] [-2.33169687e-01 9.72270297e-01 -1.79545685e-02 -4.70624466e+01] [-7.26896109e-02 9.85373202e-04 9.97354124e-01 -1.54473301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:-47.07, Z:-15.45 [[ 9.69599764e-01 2.34415125e-01 7.01843777e-02 2.26622516e+02] [-2.33732563e-01 9.72136123e-01 -1.79010321e-02 -4.70710760e+01] [-7.24250416e-02 9.52462014e-04 9.97373404e-01 -1.54500135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:-47.08, Z:-15.45 [[ 9.69427634e-01 2.35099131e-01 7.02741783e-02 2.26652310e+02] [-2.34415666e-01 9.71970967e-01 -1.79369695e-02 -4.70798721e+01] [-7.25214270e-02 9.15225672e-04 9.97366435e-01 -1.54529849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:-47.09, Z:-15.46 [[ 9.69364594e-01 2.35444254e-01 6.99877590e-02 2.26680199e+02] [-2.34766247e-01 9.71887439e-01 -1.78777755e-02 -4.70883869e+01] [-7.22294434e-02 8.99319114e-04 9.97387637e-01 -1.54556599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:-47.10, Z:-15.46 [[ 9.69268918e-01 2.36113954e-01 6.90504538e-02 2.26707818e+02] [-2.35455768e-01 9.71725013e-01 -1.76375035e-02 -4.70981709e+01] [-7.12625137e-02 8.37156306e-04 9.97457244e-01 -1.54586683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:-47.11, Z:-15.46 [[ 9.69125106e-01 2.36753252e-01 6.88797981e-02 2.26738606e+02] [-2.36100168e-01 9.71569494e-01 -1.75906017e-02 -4.71073171e+01] [-7.10861428e-02 7.84961816e-04 9.97469871e-01 -1.54609187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:-47.12, Z:-15.46 [[ 9.68916880e-01 2.37399143e-01 6.95825151e-02 2.26768497e+02] [-2.36733261e-01 9.71411895e-01 -1.77846203e-02 -4.71157464e+01] [-7.18153365e-02 7.59323130e-04 9.97417656e-01 -1.54636285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:-47.12, Z:-15.47 [[ 9.68393375e-01 2.39286427e-01 7.04008273e-02 2.26797780e+02] [-2.38609602e-01 9.70948820e-01 -1.79957614e-02 -4.71247096e+01] [-7.26617416e-02 6.28662812e-04 9.97356444e-01 -1.54661710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:-47.13, Z:-15.47 [[ 9.68121917e-01 2.40405395e-01 7.03221088e-02 2.26826570e+02] [-2.39733005e-01 9.70672421e-01 -1.79760105e-02 -4.71326627e+01] [-7.25812616e-02 5.44439311e-04 9.97362353e-01 -1.54681977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.85, Y:-47.15, Z:-15.47 [[ 9.67499592e-01 2.40605134e-01 7.78055810e-02 2.26852355e+02] [-2.40972993e-01 9.70520117e-01 -4.76637716e-03 -4.71487441e+01] [-7.66586964e-02 -1.41375757e-02 9.96957157e-01 -1.54730269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:-47.14, Z:-15.47 [[ 9.67417744e-01 2.44096880e-01 6.72281369e-02 2.26887343e+02] [-2.42446417e-01 9.69642560e-01 -3.18283008e-02 -4.71410883e+01] [-7.29564517e-02 1.44920420e-02 9.97229832e-01 -1.54737209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:-47.16, Z:-15.48 [[ 9.66603347e-01 2.45168592e-01 7.46346459e-02 2.26913499e+02] [-2.44991764e-01 9.69455069e-01 -1.16577871e-02 -4.71609766e+01] [-7.52130591e-02 -7.01641754e-03 9.97142801e-01 -1.54771626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:-47.16, Z:-15.48 [[ 9.66332620e-01 2.47815750e-01 6.91998668e-02 2.26945602e+02] [-2.46643377e-01 9.68780256e-01 -2.51368259e-02 -4.71604641e+01] [-7.32687661e-02 7.22284598e-03 9.97286077e-01 -1.54788278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:-47.17, Z:-15.48 [[ 9.65996093e-01 2.48557476e-01 7.12090531e-02 2.26973428e+02] [-2.47887644e-01 9.68617148e-01 -1.82355781e-02 -4.71719021e+01] [-7.35068992e-02 -3.63471346e-05 9.97294708e-01 -1.54811114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.00, Y:-47.18, Z:-15.48 [[ 9.65612567e-01 2.49972584e-01 7.14568254e-02 2.27002576e+02] [-2.49302023e-01 9.68252904e-01 -1.82979632e-02 -4.71792921e+01] [-7.37622679e-02 -1.45587930e-04 9.97275843e-01 -1.54839048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:-47.19, Z:-15.49 [[ 9.65152723e-01 2.51536745e-01 7.21767789e-02 2.27032155e+02] [-2.50856931e-01 9.67847712e-01 -1.84825775e-02 -4.71850613e+01] [-7.45051778e-02 -2.67535302e-04 9.97220591e-01 -1.54855696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.06, Y:-47.19, Z:-15.49 [[ 9.65071624e-01 2.51796625e-01 7.23548279e-02 2.27061200e+02] [-2.51114318e-01 9.67780128e-01 -1.85262918e-02 -4.71914746e+01] [-7.46884224e-02 -2.90134809e-04 9.97206877e-01 -1.54882426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:-47.20, Z:-15.49 [[ 9.65188174e-01 2.51335586e-01 7.24031225e-02 2.27090082e+02] [-2.50651212e-01 9.67899973e-01 -1.85367925e-02 -4.71987345e+01] [-7.47379359e-02 -2.56437479e-04 9.97203176e-01 -1.54910427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:-47.21, Z:-15.49 [[ 9.65473924e-01 2.50376414e-01 7.19149071e-02 2.27120340e+02] [-2.49698769e-01 9.68148552e-01 -1.84094151e-02 -4.72073345e+01] [-7.42335965e-02 -1.83253623e-04 9.97240863e-01 -1.54941773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:-47.22, Z:-15.50 [[ 9.65872837e-01 2.49028883e-01 7.12339639e-02 2.27148823e+02] [-2.48360220e-01 9.68496055e-01 -1.82370969e-02 -4.72160386e+01] [-7.35313769e-02 -7.69663683e-05 9.97292901e-01 -1.54974602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:-47.22, Z:-15.50 [[ 9.66334995e-01 2.47455898e-01 7.04432813e-02 2.27178672e+02] [-2.46797785e-01 9.68899157e-01 -1.80354286e-02 -4.72244878e+01] [-7.27154090e-02 4.30200079e-05 9.97352730e-01 -1.55004597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-47.23, Z:-15.50 [[ 9.67295962e-01 2.43704373e-01 7.03327853e-02 2.27208127e+02] [-2.43038267e-01 9.69849510e-01 -1.80091311e-02 -4.72325794e+01] [-7.26011214e-02 3.26601490e-04 9.97361003e-01 -1.55042433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-47.24, Z:-15.51 [[ 9.67727654e-01 2.41932493e-01 7.05113868e-02 2.27238641e+02] [-2.41258371e-01 9.70292975e-01 -1.80538294e-02 -4.72413752e+01] [-7.27845112e-02 4.59727677e-04 9.97347584e-01 -1.55071048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:-47.25, Z:-15.51 [[ 9.68060745e-01 2.40613816e-01 7.04513000e-02 2.27268682e+02] [-2.39936410e-01 9.70620763e-01 -1.80514243e-02 -4.72501788e+01] [-7.27249166e-02 5.71043235e-04 9.97351874e-01 -1.55094531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:-47.26, Z:-15.51 [[ 9.68402411e-01 2.39265047e-01 7.03491911e-02 2.27298756e+02] [-2.38585067e-01 9.70954051e-01 -1.80387642e-02 -4.72588110e+01] [-7.26218778e-02 6.84516302e-04 9.97359311e-01 -1.55124653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:-47.27, Z:-15.52 [[ 9.68485231e-01 2.37678142e-01 7.44678327e-02 2.27327058e+02] [-2.37511862e-01 9.71319952e-01 -1.12100835e-02 -4.72731901e+01] [-7.49964835e-02 -6.83019332e-03 9.97160406e-01 -1.55159640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:-47.27, Z:-15.52 [[ 9.68545873e-01 2.39095193e-01 6.89375193e-02 2.27359663e+02] [-2.37869569e-01 9.70959893e-01 -2.55920668e-02 -4.72739262e+01] [-7.30545065e-02 8.38895263e-03 9.97292667e-01 -1.55173642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:-47.29, Z:-15.52 [[ 9.68385955e-01 2.38017917e-01 7.46733748e-02 2.27387653e+02] [-2.37823851e-01 9.71238908e-01 -1.16103470e-02 -4.72910690e+01] [-7.52891576e-02 -6.51581259e-03 9.97140455e-01 -1.55212065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.42, Y:-47.29, Z:-15.52 [[ 9.68454356e-01 2.39300288e-01 6.95092298e-02 2.27421543e+02] [-2.38106699e-01 9.70914617e-01 -2.50999410e-02 -4.72920270e+01] [-7.34939504e-02 7.75753390e-03 9.97265491e-01 -1.55235637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:-47.31, Z:-15.53 [[ 9.68270348e-01 2.39335285e-01 7.19107407e-02 2.27450684e+02] [-2.38622480e-01 9.70936709e-01 -1.84720964e-02 -4.73068377e+01] [-7.42418024e-02 7.26463887e-04 9.97240005e-01 -1.55261925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264000000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:227.48, Y:-47.32, Z:-15.53 [[ 9.68283313e-01 2.39391523e-01 7.15480577e-02 2.27482279e+02] [-2.38685038e-01 9.70922841e-01 -1.83926501e-02 -4.73175643e+01] [-7.38706879e-02 7.31845315e-04 9.97267560e-01 -1.55300260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:-47.33, Z:-15.53 [[ 9.68158570e-01 2.39736638e-01 7.20786241e-02 2.27512236e+02] [-2.39019389e-01 9.70837688e-01 -1.85449490e-02 -4.73277795e+01] [-7.44225486e-02 7.26262590e-04 9.97226532e-01 -1.55314108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:-47.34, Z:-15.53 [[ 9.68062035e-01 2.40189005e-01 7.18688922e-02 2.27543808e+02] [-2.39476546e-01 9.70725891e-01 -1.84994198e-02 -4.73378582e+01] [-7.42083516e-02 6.97671931e-04 9.97242515e-01 -1.55340718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:-47.35, Z:-15.54 [[ 9.67750040e-01 2.41759976e-01 7.07952950e-02 2.27574224e+02] [-2.41071792e-01 9.70335908e-01 -1.82377840e-02 -4.73488394e+01] [-7.31043831e-02 5.82867544e-04 9.97324125e-01 -1.55370059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:-47.36, Z:-15.54 [[ 9.67512781e-01 2.42879952e-01 7.02021949e-02 2.27605703e+02] [-2.42205128e-01 9.70056220e-01 -1.80998702e-02 -4.73590551e+01] [-7.24961714e-02 5.08524178e-04 9.97368561e-01 -1.55395926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:-47.37, Z:-15.54 [[ 9.67491860e-01 2.42963725e-01 7.02006414e-02 2.27637996e+02] [-2.42288685e-01 9.70035242e-01 -1.81058932e-02 -4.73675236e+01] [-7.24961714e-02 5.08483189e-04 9.97368561e-01 -1.55424408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:-47.38, Z:-15.55 [[ 9.67075227e-01 2.44647497e-01 7.00935587e-02 2.27669322e+02] [-2.43978570e-01 9.69612011e-01 -1.80832716e-02 -4.73774532e+01] [-7.23875836e-02 3.86557783e-04 9.97376503e-01 -1.55452504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:-47.39, Z:-15.55 [[ 9.66463640e-01 2.45591969e-01 7.50507612e-02 2.27698341e+02] [-2.45551277e-01 9.69332914e-01 -9.91325493e-03 -4.73916332e+01] [-7.51837888e-02 -8.84800982e-03 9.97130438e-01 -1.55487949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-47.39, Z:-15.55 [[ 9.66027541e-01 2.49289084e-01 6.81596795e-02 2.27731131e+02] [-2.47950642e-01 9.68380162e-01 -2.75742854e-02 -4.73904179e+01] [-7.28784498e-02 9.73728289e-03 9.97293295e-01 -1.55505591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:-47.41, Z:-15.55 [[ 9.65478818e-01 2.50749413e-01 7.05364036e-02 2.27759888e+02] [-2.50085580e-01 9.68052029e-01 -1.82338081e-02 -4.74055714e+01] [-7.28550253e-02 -3.57819038e-05 9.97342541e-01 -1.55530792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:-47.42, Z:-15.56 [[ 9.64556857e-01 2.54281121e-01 7.05065980e-02 2.27791422e+02] [-2.53626382e-01 9.67130305e-01 -1.82381846e-02 -4.74167380e+01] [-7.28266936e-02 -2.90567339e-04 9.97344568e-01 -1.55557496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:-47.43, Z:-15.56 [[ 9.64185965e-01 2.55772536e-01 7.01842854e-02 2.27822149e+02] [-2.55126643e-01 9.66736914e-01 -1.81696464e-02 -4.74251306e+01] [-7.24970360e-02 -3.86963058e-04 9.97368553e-01 -1.55583725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:-47.43, Z:-15.56 [[ 9.63942831e-01 2.56732081e-01 7.00204035e-02 2.27852589e+02] [-2.56090595e-01 9.66482510e-01 -1.81429057e-02 -4.74331694e+01] [-7.23313613e-02 -4.42842898e-04 9.97380558e-01 -1.55611607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:-47.44, Z:-15.56 [[ 9.63593916e-01 2.57963233e-01 7.02974775e-02 2.27883271e+02] [-2.57319926e-01 9.66154585e-01 -1.82146664e-02 -4.74427347e+01] [-7.26169444e-02 -5.37400040e-04 9.97359760e-01 -1.55637585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:-47.45, Z:-15.57 [[ 9.63497536e-01 2.57668782e-01 7.26587719e-02 2.27913405e+02] [-2.57325226e-01 9.66220346e-01 -1.42116252e-02 -4.74544170e+01] [-7.38662759e-02 -5.00406903e-03 9.97255600e-01 -1.55671550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.94, Y:-47.46, Z:-15.57 [[ 9.63395932e-01 2.58811082e-01 6.98935020e-02 2.27944610e+02] [-2.57833053e-01 9.65919800e-01 -2.28266535e-02 -4.74587830e+01] [-7.34193084e-02 3.97025010e-03 9.97293258e-01 -1.55690133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:-47.47, Z:-15.57 [[ 9.63368485e-01 2.58337086e-01 7.19938294e-02 2.27973475e+02] [-2.57661044e-01 9.66054682e-01 -1.86852342e-02 -4.74701470e+01] [-7.43770649e-02 -5.49239508e-04 9.97230039e-01 -1.55708880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:-47.48, Z:-15.57 [[ 9.63366950e-01 2.58058406e-01 7.30066995e-02 2.28003346e+02] [-2.57361869e-01 9.66129173e-01 -1.89549128e-02 -4.74791394e+01] [-7.54253769e-02 -5.28604087e-04 9.97151309e-01 -1.55728799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:-47.49, Z:-15.58 [[ 9.63420881e-01 2.57911807e-01 7.28128113e-02 2.28034738e+02] [-2.57217687e-01 9.66168332e-01 -1.89160316e-02 -4.74879581e+01] [-7.52281003e-02 -5.04643063e-04 9.97166224e-01 -1.55757628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:-47.51, Z:-15.58 [[ 9.63329969e-01 2.55760313e-01 8.11297255e-02 2.28062503e+02] [-2.56348083e-01 9.66579024e-01 -3.26345199e-03 -4.75057589e+01] [-7.92529524e-02 -1.76536685e-02 9.96698208e-01 -1.55801745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:-47.50, Z:-15.58 [[ 9.63576758e-01 2.58689491e-01 6.78201911e-02 2.28097586e+02] [-2.56771918e-01 9.65810110e-01 -3.57632913e-02 -4.74950768e+01] [-7.47530139e-02 1.70463557e-02 9.97056372e-01 -1.55818695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:-47.51, Z:-15.58 [[ 9.63680263e-01 2.57238496e-01 7.17544956e-02 2.28125771e+02] [-2.56560332e-01 9.66347858e-01 -1.86711837e-02 -4.75140148e+01] [-7.41427504e-02 -4.16306016e-04 9.97247552e-01 -1.55843780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:-47.53, Z:-15.59 [[ 9.63622759e-01 2.56600778e-01 7.47477044e-02 2.28155299e+02] [-2.56355021e-01 9.66494892e-01 -1.30279373e-02 -4.75259451e+01] [-7.55862533e-02 -6.60793248e-03 9.97117372e-01 -1.55875353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:-47.53, Z:-15.59 [[ 9.63436537e-01 2.58477605e-01 7.05646234e-02 2.28188535e+02] [-2.57347564e-01 9.66000125e-01 -2.48191406e-02 -4.75278399e+01] [-7.45806271e-02 5.75203295e-03 9.97198398e-01 -1.55896625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:-47.54, Z:-15.59 [[ 9.63273162e-01 2.58705717e-01 7.19455822e-02 2.28219642e+02] [-2.58025773e-01 9.65956055e-01 -1.87510037e-02 -4.75405192e+01] [-7.43472626e-02 -5.01475749e-04 9.97232286e-01 -1.55924530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.25, Y:-47.55, Z:-15.59 [[ 9.63128928e-01 2.59322845e-01 7.16542457e-02 2.28250070e+02] [-2.58649012e-01 9.65790546e-01 -1.86898334e-02 -4.75489961e+01] [-7.40496938e-02 -5.32580659e-04 9.97254410e-01 -1.55949167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.28, Y:-47.56, Z:-15.60 [[ 9.62716262e-01 2.60958749e-01 7.12596023e-02 2.28281135e+02] [-2.60295874e-01 9.65349739e-01 -1.85994488e-02 -4.75557254e+01] [-7.36441273e-02 -6.42588646e-04 9.97284377e-01 -1.55971479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:-47.56, Z:-15.60 [[ 9.62452103e-01 2.61844131e-01 7.15793348e-02 2.28311526e+02] [-2.61176778e-01 9.65109921e-01 -1.86957420e-02 -4.75628787e+01] [-7.39772965e-02 -7.01103878e-04 9.97259679e-01 -1.55999463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:-47.57, Z:-15.60 [[ 9.62235452e-01 2.62654301e-01 7.15237881e-02 2.28342804e+02] [-2.61989394e-01 9.64889710e-01 -1.86923702e-02 -4.75712495e+01] [-7.39221986e-02 -7.52012649e-04 9.97263728e-01 -1.56030086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.37, Y:-47.58, Z:-15.61 [[ 9.62042963e-01 2.63338317e-01 7.15979605e-02 2.28373587e+02] [-2.62672773e-01 9.64703222e-01 -1.87271998e-02 -4.75799363e+01] [-7.40023724e-02 -7.90464013e-04 9.97257752e-01 -1.56058856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-47.59, Z:-15.61 [[ 9.61834519e-01 2.64169891e-01 7.13346079e-02 2.28404860e+02] [-2.63510489e-01 9.64475799e-01 -1.86723260e-02 -4.75884063e+01] [-7.37331693e-02 -8.37729701e-04 9.97277653e-01 -1.56086310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:-47.60, Z:-15.61 [[ 9.61638352e-01 2.64854457e-01 7.14408613e-02 2.28436210e+02] [-2.64193804e-01 9.64288001e-01 -1.87159095e-02 -4.75962659e+01] [-7.38465573e-02 -8.76296526e-04 9.97269230e-01 -1.56115437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:-47.60, Z:-15.61 [[ 9.61308419e-01 2.66151119e-01 7.10612772e-02 2.28467854e+02] [-2.65500376e-01 9.63930835e-01 -1.86251104e-02 -4.76034970e+01] [-7.34552502e-02 -9.62320371e-04 9.97298050e-01 -1.56145342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:-47.61, Z:-15.62 [[ 9.61122041e-01 2.66889978e-01 7.08107487e-02 2.28499379e+02] [-2.66244908e-01 9.63726483e-01 -1.85719135e-02 -4.76110226e+01] [-7.31988513e-02 -1.00312586e-03 9.97316861e-01 -1.56173503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:-47.62, Z:-15.62 [[ 9.60979745e-01 2.67374852e-01 7.09127531e-02 2.28529300e+02] [-2.66727991e-01 9.63592049e-01 -1.86156110e-02 -4.76176279e+01] [-7.33083114e-02 -1.02519106e-03 9.97308799e-01 -1.56202680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.56, Y:-47.62, Z:-15.62 [[ 9.60910532e-01 2.67762360e-01 7.03865636e-02 2.28561329e+02] [-2.67126212e-01 9.63484416e-01 -1.84761135e-02 -4.76249370e+01] [-7.27635649e-02 -1.04820406e-03 9.97348668e-01 -1.56247901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:-47.63, Z:-15.63 [[ 9.60771519e-01 2.68067893e-01 7.11174544e-02 2.28591145e+02] [-2.67418079e-01 9.63399433e-01 -1.86843327e-02 -4.76321529e+01] [-7.35231849e-02 -1.06671829e-03 9.97292938e-01 -1.56262698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:-47.65, Z:-15.62 [[ 9.60996689e-01 2.66747281e-01 7.30154174e-02 2.28619711e+02] [-2.67328706e-01 9.63603581e-01 -1.87130446e-03 -4.76495605e+01] [-7.08570830e-02 -1.77207997e-02 9.97329057e-01 -1.56204874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:-47.64, Z:-15.63 [[ 9.60673454e-01 2.69485439e-01 6.69635247e-02 2.28653515e+02] [-2.67669106e-01 9.62877612e-01 -3.49278398e-02 -4.76381156e+01] [-7.38902230e-02 1.56301817e-02 9.97143888e-01 -1.56317988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.68, Y:-47.66, Z:-15.63 [[ 9.60719861e-01 2.68257259e-01 7.11012766e-02 2.28682612e+02] [-2.67606939e-01 9.63346725e-01 -1.86979827e-02 -4.76553902e+01] [-7.35110515e-02 -1.06367169e-03 9.97293835e-01 -1.56339885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:-47.66, Z:-15.64 [[ 9.60690750e-01 2.67704305e-01 7.35369796e-02 2.28712770e+02] [-2.67286924e-01 9.63490007e-01 -1.56431063e-02 -4.76645367e+01] [-7.50398719e-02 -4.62728558e-03 9.97169798e-01 -1.56369202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.74, Y:-47.67, Z:-15.64 [[ 9.60710385e-01 2.68455491e-01 7.04784046e-02 2.28742143e+02] [-2.67522829e-01 9.63288043e-01 -2.25317897e-02 -4.76664796e+01] [-7.39397871e-02 2.79194219e-03 9.97258799e-01 -1.56386662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.77, Y:-47.67, Z:-15.64 [[ 9.60829983e-01 2.67963642e-01 7.07193755e-02 2.28770767e+02] [-2.67317754e-01 9.63428493e-01 -1.86214213e-02 -4.76730143e+01] [-7.31229253e-02 -1.01252472e-03 9.97322422e-01 -1.56411025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:-47.68, Z:-15.64 [[ 9.60844587e-01 2.68084380e-01 7.00602894e-02 2.28801162e+02] [-2.67450979e-01 9.63394901e-01 -1.84455367e-02 -4.76801545e+01] [-7.24406859e-02 -1.01439889e-03 9.97372206e-01 -1.56438115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:-47.69, Z:-15.65 [[ 9.60967044e-01 2.67710478e-01 6.98100359e-02 2.28829340e+02] [-2.67080447e-01 9.63498904e-01 -1.83819435e-02 -4.76867172e+01] [-7.21829320e-02 -9.80453707e-04 9.97390928e-01 -1.56468623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:-47.69, Z:-15.65 [[ 9.61141876e-01 2.67542882e-01 6.80227977e-02 2.28859250e+02] [-2.66944387e-01 9.63545492e-01 -1.79102984e-02 -4.76922312e+01] [-7.03348329e-02 -9.43966234e-04 9.97522992e-01 -1.56496821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:-47.70, Z:-15.65 [[ 9.61246664e-01 2.67051541e-01 6.84713526e-02 2.28887727e+02] [-2.66443847e-01 9.63681814e-01 -1.80287774e-02 -4.76976258e+01] [-7.07992101e-02 -9.13668432e-04 9.97490169e-01 -1.56523546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:-47.70, Z:-15.65 [[ 9.61266660e-01 2.66906360e-01 6.87561179e-02 2.28918122e+02] [-2.66293391e-01 9.63722039e-01 -1.81014208e-02 -4.77037112e+01] [-7.10931704e-02 -9.09007420e-04 9.97469265e-01 -1.56541154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:-47.71, Z:-15.66 [[ 9.61359796e-01 2.66291470e-01 6.98297670e-02 2.28947179e+02] [-2.65657554e-01 9.63892154e-01 -1.83842365e-02 -4.77095375e+01] [-7.22039299e-02 -8.76939294e-04 9.97389504e-01 -1.56561641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:-47.72, Z:-15.66 [[ 9.61475599e-01 2.65661427e-01 7.06305734e-02 2.28975550e+02] [-2.65011221e-01 9.64066025e-01 -1.85944056e-02 -4.77158125e+01] [-7.30323525e-02 -8.39827271e-04 9.97329219e-01 -1.56584983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:-47.72, Z:-15.66 [[ 9.61857516e-01 2.64096589e-01 7.12959321e-02 2.29004053e+02] [-2.63429964e-01 9.64495961e-01 -1.87668704e-02 -4.77207556e+01] [-7.37209050e-02 -7.30429511e-04 9.97278644e-01 -1.56596957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:-47.73, Z:-15.66 [[ 9.62062069e-01 2.63253245e-01 7.16540664e-02 2.29032886e+02] [-2.62577852e-01 9.64726529e-01 -1.88572462e-02 -4.77274860e+01] [-7.40908100e-02 -6.72929542e-04 9.97251272e-01 -1.56619389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:-47.73, Z:-15.66 [[ 9.62315910e-01 2.62250134e-01 7.19232676e-02 2.29062085e+02] [-2.61566987e-01 9.64999745e-01 -1.89262741e-02 -4.77342775e+01] [-7.43693528e-02 -5.99697690e-04 9.97230585e-01 -1.56645684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:-47.74, Z:-15.67 [[ 9.62605369e-01 2.61219549e-01 7.18000790e-02 2.29090233e+02] [-2.60536009e-01 9.65279274e-01 -1.88921183e-02 -4.77407640e+01] [-7.42421187e-02 -5.20851514e-04 9.97240110e-01 -1.56667373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:-47.75, Z:-15.67 [[ 9.63228537e-01 2.59055993e-01 7.12795798e-02 2.29118478e+02] [-2.58376626e-01 9.65862240e-01 -1.87523972e-02 -4.77455544e+01] [-7.37041755e-02 -3.54133190e-04 9.97280086e-01 -1.56688273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:-47.76, Z:-15.66 [[ 9.63838698e-01 2.56333524e-01 7.28566338e-02 2.29145621e+02] [-2.56866287e-01 9.66444626e-01 -2.12045302e-03 -4.77608397e+01] [-7.09554454e-02 -1.66706383e-02 9.97340170e-01 -1.56635573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:-47.75, Z:-15.67 [[ 9.64029617e-01 2.57321830e-01 6.65760673e-02 2.29178644e+02] [-2.55522842e-01 9.66190741e-01 -3.44024740e-02 -4.77494344e+01] [-7.31776873e-02 1.61532979e-02 9.97188095e-01 -1.56736333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:-47.77, Z:-15.68 [[ 9.64501016e-01 2.54390922e-01 7.08734763e-02 2.29205712e+02] [-2.53706344e-01 9.67101473e-01 -1.86502636e-02 -4.77659483e+01] [-7.32863010e-02 7.14760331e-06 9.97310944e-01 -1.56762580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:-47.77, Z:-15.68 [[ 9.65477468e-01 2.51029855e-01 6.95504873e-02 2.29235187e+02] [-2.50361964e-01 9.67979311e-01 -1.83013894e-02 -4.77746726e+01] [-7.19176279e-02 2.56782469e-04 9.97410542e-01 -1.56788154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:-47.78, Z:-15.68 [[ 9.65948680e-01 2.49325407e-01 6.91374620e-02 2.29264273e+02] [-2.48660722e-01 9.68419688e-01 -1.81976177e-02 -4.77826797e+01] [-7.14912079e-02 3.86193649e-04 9.97441155e-01 -1.56812910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:-47.79, Z:-15.68 [[ 9.66296210e-01 2.47942318e-01 6.92549046e-02 2.29293974e+02] [-2.47271821e-01 9.68774673e-01 -1.82285297e-02 -4.77904596e+01] [-7.16120215e-02 4.89372804e-04 9.97432443e-01 -1.56834530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:-47.80, Z:-15.68 [[ 9.66544803e-01 2.46890604e-01 6.95426074e-02 2.29322720e+02] [-2.46211786e-01 9.69043191e-01 -1.83044097e-02 -4.77976941e+01] [-7.19089769e-02 5.69822471e-04 9.97411036e-01 -1.56849799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:-47.81, Z:-15.69 [[ 9.66561711e-01 2.46728305e-01 6.98827721e-02 2.29351701e+02] [-2.46042472e-01 9.69084518e-01 -1.83929006e-02 -4.78055964e+01] [-7.22603617e-02 5.83743502e-04 9.97385632e-01 -1.56867664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:-47.81, Z:-15.69 [[ 9.66464235e-01 2.46801401e-01 7.09644362e-02 2.29381097e+02] [-2.46094339e-01 9.69065903e-01 -1.86775909e-02 -4.78147539e+01] [-7.33788710e-02 5.87277511e-04 9.97303964e-01 -1.56890380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:-47.82, Z:-15.69 [[ 9.66432587e-01 2.46982032e-01 7.07667405e-02 2.29409003e+02] [-2.46279384e-01 9.69019891e-01 -1.86256944e-02 -4.78236798e+01] [-7.31745910e-02 5.72088775e-04 9.97318982e-01 -1.56904917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:-47.83, Z:-15.69 [[ 9.66305014e-01 2.47379677e-01 7.11190209e-02 2.29438573e+02] [-2.46671157e-01 9.68918469e-01 -1.87173846e-02 -4.78323947e+01] [-7.35388335e-02 5.43691413e-04 9.97292206e-01 -1.56935790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:-47.84, Z:-15.70 [[ 9.66028757e-01 2.48684226e-01 7.03178287e-02 2.29467495e+02] [-2.47995100e-01 9.68584515e-01 -1.85058673e-02 -4.78416022e+01] [-7.27108774e-02 4.38723011e-04 9.97352965e-01 -1.56960718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:-47.85, Z:-15.70 [[ 9.65785928e-01 2.49636348e-01 7.02796879e-02 2.29496503e+02] [-2.48950142e-01 9.68339587e-01 -1.85005615e-02 -4.78509734e+01] [-7.26730166e-02 3.71443674e-04 9.97355751e-01 -1.56984940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:-47.86, Z:-15.70 [[ 9.65528297e-01 2.50704628e-01 7.00164054e-02 2.29525103e+02] [-2.50026365e-01 9.68063585e-01 -1.84312545e-02 -4.78599761e+01] [-7.24011333e-02 2.89950429e-04 9.97375552e-01 -1.57006824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.55, Y:-47.87, Z:-15.70 [[ 9.65531223e-01 2.50693371e-01 7.00163696e-02 2.29554181e+02] [-2.50015069e-01 9.68066500e-01 -1.84313906e-02 -4.78675898e+01] [-7.24011293e-02 2.90935627e-04 9.97375552e-01 -1.57032291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:-47.88, Z:-15.71 [[ 9.65203792e-01 2.52089097e-01 6.95178220e-02 2.29584792e+02] [-2.51424280e-01 9.67704012e-01 -1.82969103e-02 -4.78762920e+01] [-7.18851268e-02 1.81778783e-04 9.97412901e-01 -1.57059554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:-47.88, Z:-15.71 [[ 9.64394510e-01 2.55465074e-01 6.84165612e-02 2.29613967e+02] [-2.54828623e-01 9.66818283e-01 -1.80216460e-02 -4.78843656e+01] [-7.07502834e-02 -5.45215896e-05 9.97494057e-01 -1.57084146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:229.64, Y:-47.89, Z:-15.71 [[ 9.63844452e-01 2.57572994e-01 6.82643718e-02 2.29643188e+02] [-2.56944577e-01 9.66258821e-01 -1.79826222e-02 -4.78933080e+01] [-7.05928892e-02 -2.07709487e-04 9.97505188e-01 -1.57124840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:-47.90, Z:-15.71 [[ 9.63247255e-01 2.59750224e-01 6.84437557e-02 2.29673773e+02] [-2.59124007e-01 9.65675766e-01 -1.80295216e-02 -4.79019769e+01] [-7.07776485e-02 -3.68533095e-04 9.97492049e-01 -1.57131627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:-47.91, Z:-15.72 [[ 9.62509498e-01 2.62303979e-01 6.90803126e-02 2.29702951e+02] [-2.61672462e-01 9.64985135e-01 -1.81992541e-02 -4.79099279e+01] [-7.14352115e-02 -5.59460542e-04 9.97445085e-01 -1.57155898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:-47.92, Z:-15.72 [[ 9.61058106e-01 2.67454078e-01 6.95387201e-02 2.29731370e+02] [-2.66827460e-01 9.63570143e-01 -1.83217434e-02 -4.79163424e+01] [-7.19056594e-02 -9.46580063e-04 9.97410989e-01 -1.57173926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:-47.92, Z:-15.72 [[ 9.60332783e-01 2.70018809e-01 6.96476054e-02 2.29759744e+02] [-2.69397234e-01 9.62854368e-01 -1.83465663e-02 -4.79229851e+01] [-7.20144191e-02 -1.14406318e-03 9.97402935e-01 -1.57197789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.79, Y:-47.93, Z:-15.72 [[ 9.59627056e-01 2.72374610e-01 7.01996065e-02 2.29786820e+02] [-2.71749524e-01 9.62190363e-01 -1.84905594e-02 -4.79291211e+01] [-7.25817438e-02 -1.33266852e-03 9.97361577e-01 -1.57221028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:-47.94, Z:-15.72 [[ 9.59108674e-01 2.74278116e-01 6.98717828e-02 2.29815212e+02] [-2.73664247e-01 9.61649282e-01 -1.83994127e-02 -4.79353041e+01] [-7.22387060e-02 -1.47437251e-03 9.97386282e-01 -1.57245026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:-47.94, Z:-15.73 [[ 9.58687199e-01 2.75784807e-01 6.97251337e-02 2.29842666e+02] [-2.75177740e-01 9.61218091e-01 -1.83573480e-02 -4.79413878e+01] [-7.20837376e-02 -1.58785021e-03 9.97397320e-01 -1.57272972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:-47.95, Z:-15.73 [[ 9.58492039e-01 2.76563285e-01 6.93235998e-02 2.29870520e+02] [-2.75965559e-01 9.60994306e-01 -1.82470447e-02 -4.79475082e+01] [-7.16660473e-02 -1.64127887e-03 9.97427333e-01 -1.57302516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43264000000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.90, Y:-47.95, Z:-15.73 [[ 9.58470182e-01 2.76969794e-01 6.79900320e-02 2.29897632e+02] [-2.76396117e-01 9.60877222e-01 -1.78927627e-02 -4.79527737e+01] [-7.02858279e-02 -1.64250138e-03 9.97525541e-01 -1.57344389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:-47.96, Z:-15.74 [[ 9.58625921e-01 2.76361808e-01 6.82678118e-02 2.29924651e+02] [-2.75782205e-01 9.61052321e-01 -1.79614123e-02 -4.79582597e+01] [-7.05727873e-02 -1.60877227e-03 9.97505335e-01 -1.57357409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:-47.96, Z:-15.74 [[ 9.58910811e-01 2.75284404e-01 6.86189007e-02 2.29952062e+02] [-2.74696366e-01 9.61361597e-01 -1.80495413e-02 -4.79639800e+01] [-7.09363332e-02 -1.54146232e-03 9.97479654e-01 -1.57384247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264000000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.98, Y:-47.97, Z:-15.74 [[ 9.59288547e-01 2.73898879e-01 6.88831494e-02 2.29979523e+02] [-2.73303125e-01 9.61757403e-01 -1.81135371e-02 -4.79705864e+01] [-7.12101564e-02 -1.44987135e-03 9.97460281e-01 -1.57411364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:-47.98, Z:-15.74 [[ 9.60424972e-01 2.69753893e-01 6.94025249e-02 2.30008027e+02] [-2.69138547e-01 9.62928608e-01 -1.82465918e-02 -4.79766933e+01] [-7.17517659e-02 -1.15441230e-03 9.97421852e-01 -1.57427137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:-47.98, Z:-15.75 [[ 9.61102927e-01 2.67175104e-01 6.99901911e-02 2.30034449e+02] [-2.66542698e-01 9.63647506e-01 -1.83976502e-02 -4.79834249e+01] [-7.23612673e-02 -9.73338868e-04 9.97378012e-01 -1.57454041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61264000000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.06, Y:-47.99, Z:-15.75 [[ 9.61965680e-01 2.64081005e-01 6.98802812e-02 2.30062203e+02] [-2.63442760e-01 9.64500217e-01 -1.83641735e-02 -4.79908726e+01] [-7.22491758e-02 -7.43749513e-04 9.97386336e-01 -1.57487663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.09, Y:-48.00, Z:-15.75 [[ 9.63745946e-01 2.57329128e-01 7.05370252e-02 2.30089710e+02] [-2.56660985e-01 9.66323787e-01 -1.85331631e-02 -4.79992472e+01] [-7.29307280e-02 -2.42841546e-04 9.97336979e-01 -1.57502618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:-48.01, Z:-15.75 [[ 9.64680845e-01 2.53826391e-01 7.04487789e-02 2.30118501e+02] [-2.53150884e-01 9.67249793e-01 -1.85058704e-02 -4.80081542e+01] [-7.28388451e-02 1.80880373e-05 9.97343723e-01 -1.57532143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.15, Y:-48.02, Z:-15.76 [[ 9.65573653e-01 2.50479552e-01 7.01962550e-02 2.30147425e+02] [-2.49800055e-01 9.68121853e-01 -1.84393877e-02 -4.80172797e+01] [-7.25772180e-02 2.69558559e-04 9.97362760e-01 -1.57558904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:-48.03, Z:-15.76 [[ 9.66372797e-01 2.47366165e-01 7.02395800e-02 2.30176219e+02] [-2.46677541e-01 9.68921940e-01 -1.84516837e-02 -4.80262889e+01] [-7.26209923e-02 5.04678265e-04 9.97359482e-01 -1.57586536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:-48.04, Z:-15.76 [[ 9.66962266e-01 2.45181368e-01 6.97859087e-02 2.30206913e+02] [-2.44496021e-01 9.69477002e-01 -1.83313684e-02 -4.80364646e+01] [-7.21503436e-02 6.63364598e-04 9.97393547e-01 -1.57613943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:-48.05, Z:-15.76 [[ 9.67436914e-01 2.43436178e-01 6.93155482e-02 2.30237148e+02] [-2.42754688e-01 9.69916588e-01 -1.82201760e-02 -4.80464109e+01] [-7.16657500e-02 8.00196610e-04 9.97428383e-01 -1.57639512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-48.06, Z:-15.77 [[ 9.67815675e-01 2.42093863e-01 6.87268555e-02 2.30268481e+02] [-2.41419600e-01 9.70252412e-01 -1.80785486e-02 -4.80579209e+01] [-7.10591030e-02 9.04692796e-04 9.97471697e-01 -1.57661536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:-48.07, Z:-15.77 [[ 9.67643263e-01 2.42874306e-01 6.84002030e-02 2.30299641e+02] [-2.42207421e-01 9.70057389e-01 -1.80063144e-02 -4.80677338e+01] [-7.07253934e-02 8.56652075e-04 9.97495456e-01 -1.57688811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.33, Y:-48.08, Z:-15.77 [[ 9.67318681e-01 2.44306313e-01 6.78895791e-02 2.30329876e+02] [-2.43651888e-01 9.69697813e-01 -1.78860215e-02 -4.80774076e+01] [-7.02020443e-02 7.60058635e-04 9.97532503e-01 -1.57718697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.36, Y:-48.09, Z:-15.77 [[ 9.66833901e-01 2.46254730e-01 6.77555676e-02 2.30360717e+02] [-2.45606727e-01 9.69204937e-01 -1.78640716e-02 -4.80871357e+01] [-7.00681428e-02 6.30366798e-04 9.97542008e-01 -1.57743094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.39, Y:-48.10, Z:-15.78 [[ 9.65579642e-01 2.51069611e-01 6.79706163e-02 2.30390939e+02] [-2.50428526e-01 9.67968989e-01 -1.79329092e-02 -4.80977298e+01] [-7.02958573e-02 2.93870832e-04 9.97526143e-01 -1.57767208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:-48.12, Z:-15.77 [[ 9.65128261e-01 2.52273846e-01 6.98952512e-02 2.30419005e+02] [-2.53011214e-01 9.67461746e-01 1.75945518e-03 -4.81175007e+01] [-6.71771172e-02 -1.93823823e-02 9.97552785e-01 -1.57689603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:-48.10, Z:-15.78 [[ 9.64105743e-01 2.57960047e-01 6.29025490e-02 2.30454179e+02] [-2.56054647e-01 9.65961097e-01 -3.68127296e-02 -4.81043198e+01] [-7.02576287e-02 1.93848741e-02 9.97340510e-01 -1.57819028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:-48.12, Z:-15.78 [[ 9.63069120e-01 2.60667282e-01 6.74569403e-02 2.30479911e+02] [-2.60057217e-01 9.65428624e-01 -1.78273839e-02 -4.81223676e+01] [-6.97718768e-02 -3.73661214e-04 9.97562903e-01 -1.57834443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:-48.13, Z:-15.79 [[ 9.62589405e-01 2.62445548e-01 6.74089884e-02 2.30507164e+02] [-2.61840821e-01 9.64946672e-01 -1.78130301e-02 -4.81295035e+01] [-6.97210294e-02 -5.03790786e-04 9.97566401e-01 -1.57856487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:-48.14, Z:-15.79 [[ 9.62152999e-01 2.63931312e-01 6.78370789e-02 2.30535518e+02] [-2.63322694e-01 9.64541281e-01 -1.79242095e-02 -4.81375408e+01] [-7.01624231e-02 -6.17210401e-04 9.97535390e-01 -1.57884035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.56, Y:-48.15, Z:-15.79 [[ 9.61831961e-01 2.65080594e-01 6.79084516e-02 2.30563101e+02] [-2.64473665e-01 9.64226002e-01 -1.79414798e-02 -4.81459484e+01] [-7.02350329e-02 -7.03308416e-04 9.97530223e-01 -1.57913592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:-48.17, Z:-15.78 [[ 9.61589595e-01 2.65166653e-01 7.09372808e-02 2.30590974e+02] [-2.66070350e-01 9.63947489e-01 3.43613689e-03 -4.81676609e+01] [-6.74686648e-02 -2.21784606e-02 9.97474859e-01 -1.57828626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-48.15, Z:-15.80 [[ 9.61129104e-01 2.68857576e-01 6.28207683e-02 2.30626528e+02] [-2.66832731e-01 9.62960765e-01 -3.88182751e-02 -4.81510036e+01] [-7.09305225e-02 2.05467368e-02 9.97269619e-01 -1.57960790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:-48.17, Z:-15.80 [[ 9.61122401e-01 2.67524135e-01 6.83708161e-02 2.30652334e+02] [-2.66914422e-01 9.63550759e-01 -1.80728077e-02 -4.81702083e+01] [-7.07136639e-02 -8.78976590e-04 9.97496268e-01 -1.57982303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:-48.18, Z:-15.80 [[ 9.61044902e-01 2.67853915e-01 6.81687424e-02 2.30682462e+02] [-2.67248582e-01 9.63459117e-01 -1.80201255e-02 -4.81783428e+01] [-7.05045576e-02 -8.99849976e-04 9.97511051e-01 -1.58009002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:-48.19, Z:-15.80 [[ 9.60843843e-01 2.68736719e-01 6.75254464e-02 2.30711811e+02] [-2.68144808e-01 9.63213199e-01 -1.78520505e-02 -4.81866904e+01] [-6.98389027e-02 -9.53564985e-04 9.97557827e-01 -1.58028034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:-48.19, Z:-15.81 [[ 9.60687895e-01 2.69237214e-01 6.77502168e-02 2.30740720e+02] [-2.68642491e-01 9.63073382e-01 -1.79129245e-02 -4.81946356e+01] [-7.00712563e-02 -9.91857269e-04 9.97541496e-01 -1.58054233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:-48.20, Z:-15.81 [[ 9.60505015e-01 2.69827798e-01 6.79932037e-02 2.30769564e+02] [-2.69230400e-01 9.62908032e-01 -1.79753867e-02 -4.82021392e+01] [-7.03214609e-02 -1.04038836e-03 9.97523839e-01 -1.58073697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.80, Y:-48.21, Z:-15.81 [[ 9.60335343e-01 2.70415233e-01 6.80560801e-02 2.30797456e+02] [-2.69818315e-01 9.62743176e-01 -1.79904035e-02 -4.82090515e+01] [-7.03854058e-02 -1.08595655e-03 9.97519281e-01 -1.58103254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:-48.21, Z:-15.81 [[ 9.59711978e-01 2.72351001e-01 6.91220064e-02 2.30827208e+02] [-2.71740436e-01 9.62197157e-01 -1.82692638e-02 -4.82144066e+01] [-7.14846503e-02 -1.25001278e-03 9.97440917e-01 -1.58119137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.85, Y:-48.22, Z:-15.81 [[ 9.59482431e-01 2.73072290e-01 6.94621462e-02 2.30854571e+02] [-2.72457709e-01 9.61992621e-01 -1.83573765e-02 -4.82205374e+01] [-7.18349629e-02 -1.31191704e-03 9.97415669e-01 -1.58148623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:-48.23, Z:-15.82 [[ 9.59331603e-01 2.73512947e-01 6.98107640e-02 2.30883086e+02] [-2.72893465e-01 9.61867369e-01 -1.84477800e-02 -4.82269316e+01] [-7.21944026e-02 -1.35336295e-03 9.97389661e-01 -1.58168091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:-48.23, Z:-15.82 [[ 9.59459676e-01 2.73201657e-01 6.92674829e-02 2.30911897e+02] [-2.72591254e-01 9.61955874e-01 -1.83003939e-02 -4.82333326e+01] [-7.16319600e-02 -1.32322001e-03 9.97430254e-01 -1.58194661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:-48.24, Z:-15.82 [[ 9.59699564e-01 2.72388599e-01 6.91462093e-02 2.30940792e+02] [-2.71778355e-01 9.62186499e-01 -1.82665712e-02 -4.82404559e+01] [-7.15071548e-02 -1.26202259e-03 9.97439288e-01 -1.58228831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:-48.25, Z:-15.82 [[ 9.60056442e-01 2.70793853e-01 7.04437186e-02 2.30969234e+02] [-2.70620807e-01 9.62609082e-01 -1.21710387e-02 -4.82513894e+01] [-7.11056057e-02 -7.37865184e-03 9.97441501e-01 -1.58245055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:-48.25, Z:-15.83 [[ 9.60484761e-01 2.70139658e-01 6.70342314e-02 2.31000774e+02] [-2.69116995e-01 9.62808028e-01 -2.40154800e-02 -4.82520224e+01] [-7.10286297e-02 5.02645171e-03 9.97461613e-01 -1.58284163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.03, Y:-48.26, Z:-15.83 [[ 9.61058811e-01 2.67737666e-01 6.84288268e-02 2.31028755e+02] [-2.67127568e-01 9.63491431e-01 -1.80865888e-02 -4.82629687e+01] [-7.07730494e-02 -8.96950567e-04 9.97492041e-01 -1.58315463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:-48.27, Z:-15.83 [[ 9.62168890e-01 2.63579320e-01 6.89707823e-02 2.31056472e+02] [-2.62948945e-01 9.64637541e-01 -1.82281821e-02 -4.82702443e+01] [-7.13363777e-02 -5.97204768e-04 9.97452136e-01 -1.58331473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:-48.28, Z:-15.83 [[ 9.62707396e-01 2.61577748e-01 6.90764199e-02 2.31083514e+02] [-2.60940456e-01 9.65182303e-01 -1.82537957e-02 -4.82775582e+01] [-7.14461248e-02 -4.51768370e-04 9.97444358e-01 -1.58347274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:-48.29, Z:-15.84 [[ 9.63123398e-01 2.60059166e-01 6.90112396e-02 2.31111925e+02] [-2.59419563e-01 9.65592622e-01 -1.82312535e-02 -4.82856914e+01] [-7.13779484e-02 -3.43918772e-04 9.97449282e-01 -1.58370095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:-48.29, Z:-15.84 [[ 9.63437995e-01 2.58820282e-01 6.92769163e-02 2.31139719e+02] [-2.58172679e-01 9.65925461e-01 -1.82994962e-02 -4.82938955e+01] [-7.16526181e-02 -2.54977144e-04 9.97429615e-01 -1.58391478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:-48.30, Z:-15.84 [[ 9.63710256e-01 2.57641426e-01 6.98816047e-02 2.31168551e+02] [-2.56979412e-01 9.66240584e-01 -1.84584649e-02 -4.83025312e+01] [-7.22781078e-02 -1.69521791e-04 9.97384503e-01 -1.58411420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:-48.32, Z:-15.85 [[ 9.63460083e-01 2.56996088e-01 7.54829712e-02 2.31193324e+02] [-2.57037578e-01 9.66356357e-01 -9.33134733e-03 -4.83150120e+01] [-7.53415689e-02 -1.04115794e-02 9.97103428e-01 -1.58450406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:-48.31, Z:-15.85 [[ 9.63783438e-01 2.57956474e-01 6.76752761e-02 2.31226346e+02] [-2.56607790e-01 9.66107996e-01 -2.80674744e-02 -4.83113843e+01] [-7.26218121e-02 9.68496392e-03 9.97312526e-01 -1.58463655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:-48.32, Z:-15.85 [[ 9.63833516e-01 2.56948750e-01 7.07268921e-02 2.31252506e+02] [-2.56268308e-01 9.66425024e-01 -1.86876302e-02 -4.83247366e+01] [-7.31540016e-02 -1.13296608e-04 9.97320650e-01 -1.58489175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:-48.33, Z:-15.85 [[ 9.63878681e-01 2.56715285e-01 7.09587955e-02 2.31282524e+02] [-2.56029984e-01 9.66487068e-01 -1.87455255e-02 -4.83337105e+01] [-7.33930211e-02 -9.91668760e-05 9.97303091e-01 -1.58513681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:-48.34, Z:-15.85 [[ 9.64112046e-01 2.55992333e-01 7.03980666e-02 2.31312565e+02] [-2.55315779e-01 9.66678811e-01 -1.85991781e-02 -4.83430667e+01] [-7.28135663e-02 -4.20455616e-05 9.97345568e-01 -1.58537262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:-48.35, Z:-15.86 [[ 9.64183020e-01 2.55858447e-01 6.99110749e-02 2.31344281e+02] [-2.55190915e-01 9.66714257e-01 -1.84700578e-02 -4.83525567e+01] [-7.23097531e-02 -3.21549854e-05 9.97382223e-01 -1.58563028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.38, Y:-48.36, Z:-15.86 [[ 9.64167292e-01 2.55918822e-01 6.99070044e-02 2.31375731e+02] [-2.55250332e-01 9.66698276e-01 -1.84854507e-02 -4.83609609e+01] [-7.23097554e-02 -2.07191281e-05 9.97382223e-01 -1.58590704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:-48.37, Z:-15.86 [[ 9.64200685e-01 2.55858752e-01 6.96659071e-02 2.31405936e+02] [-2.55194500e-01 9.66714176e-01 -1.84246681e-02 -4.83707516e+01] [-7.20611326e-02 -1.32787171e-05 9.97400217e-01 -1.58619384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:-48.38, Z:-15.86 [[ 9.64266535e-01 2.55770859e-01 6.90747151e-02 2.31436073e+02] [-2.55116504e-01 9.66737435e-01 -1.82839251e-02 -4.83807310e+01] [-7.14536081e-02 8.47727301e-06 9.97443924e-01 -1.58643691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:-48.39, Z:-15.87 [[ 9.64168202e-01 2.56105049e-01 6.92089701e-02 2.31465095e+02] [-2.55448867e-01 9.66648956e-01 -1.83213829e-02 -4.83901209e+01] [-7.15929774e-02 -1.44581558e-05 9.97433930e-01 -1.58666140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264000000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.49, Y:-48.41, Z:-15.86 [[ 9.63672283e-01 2.57018980e-01 7.26427844e-02 2.31494181e+02] [-2.57436460e-01 9.66288081e-01 -3.71676426e-03 -4.84096589e+01] [-7.11491357e-02 -1.51191585e-02 9.97351097e-01 -1.58644254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:-48.40, Z:-15.87 [[ 9.62980768e-01 2.61469279e-01 6.55885359e-02 2.31527900e+02] [-2.59799213e-01 9.65099743e-01 -3.29674729e-02 -4.84013557e+01] [-7.19194605e-02 1.47071924e-02 9.97302005e-01 -1.58710163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:-48.42, Z:-15.87 [[ 9.61749965e-01 2.65016276e-01 6.93064096e-02 2.31555713e+02] [-2.64380204e-01 9.64243711e-01 -1.83623065e-02 -4.84175775e+01] [-7.16945797e-02 -6.63295082e-04 9.97426412e-01 -1.58728581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:-48.42, Z:-15.88 [[ 9.61159974e-01 2.67100787e-01 6.94886649e-02 2.31583087e+02] [-2.66466148e-01 9.63668257e-01 -1.84196129e-02 -4.84244364e+01] [-7.18839137e-02 -8.12182264e-04 9.97412675e-01 -1.58754368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:-48.43, Z:-15.88 [[ 9.60643401e-01 2.69100982e-01 6.89123887e-02 2.31613816e+02] [-2.68482301e-01 9.63111490e-01 -1.82622892e-02 -4.84320800e+01] [-7.12847134e-02 -9.58209007e-04 9.97455549e-01 -1.58777460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23264000000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.64, Y:-48.44, Z:-15.88 [[ 9.60129826e-01 2.70879454e-01 6.91016550e-02 2.31643314e+02] [-2.70260878e-01 9.62612673e-01 -1.83275659e-02 -4.84394250e+01] [-7.14826899e-02 -1.07863135e-03 9.97441257e-01 -1.58821701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:-48.45, Z:-15.88 [[ 9.59552277e-01 2.73123235e-01 6.82870883e-02 2.31672515e+02] [-2.72524742e-01 9.61978267e-01 -1.81129415e-02 -4.84466641e+01] [-7.06377601e-02 -1.22960686e-03 9.97501276e-01 -1.58841281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:-48.45, Z:-15.89 [[ 9.59387793e-01 2.73691338e-01 6.83236067e-02 2.31699578e+02] [-2.73093753e-01 9.61816734e-01 -1.81210496e-02 -4.84543641e+01] [-7.06743625e-02 -1.27363637e-03 9.97498628e-01 -1.58868514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:-48.46, Z:-15.89 [[ 9.59392158e-01 2.73630064e-01 6.85074883e-02 2.31725783e+02] [-2.73029258e-01 9.61834166e-01 -1.81675865e-02 -4.84617819e+01] [-7.08640408e-02 -1.27470869e-03 9.97485169e-01 -1.58892634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:-48.47, Z:-15.89 [[ 9.59545519e-01 2.73141925e-01 6.83072952e-02 2.31754368e+02] [-2.72543755e-01 9.61972947e-01 -1.81093958e-02 -4.84693191e+01] [-7.06562053e-02 -1.23993714e-03 9.97499957e-01 -1.58913100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:-48.48, Z:-15.89 [[ 9.59964351e-01 2.71502315e-01 6.89560654e-02 2.31781949e+02] [-2.70888604e-01 9.62437122e-01 -1.82797960e-02 -4.84763460e+01] [-7.13288841e-02 -1.13145982e-03 9.97452209e-01 -1.58934841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.81, Y:-48.48, Z:-15.90 [[ 9.60235772e-01 2.70478244e-01 6.92010187e-02 2.31810230e+02] [-2.69857703e-01 9.62725502e-01 -1.83419702e-02 -4.84844353e+01] [-7.15826893e-02 -1.06181203e-03 9.97434104e-01 -1.58966448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:-48.49, Z:-15.90 [[ 9.60505737e-01 2.69570709e-01 6.89953822e-02 2.31839281e+02] [-2.68951641e-01 9.62980087e-01 -1.82857231e-02 -4.84920784e+01] [-7.13704745e-02 -9.92879291e-04 9.97449382e-01 -1.58985036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:-48.50, Z:-15.90 [[ 9.60729301e-01 2.68792901e-01 6.89172423e-02 2.31866482e+02] [-2.68173352e-01 9.63197540e-01 -1.82634185e-02 -4.84999295e+01] [-7.12899955e-02 -9.35566588e-04 9.97455193e-01 -1.59008650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.90, Y:-48.51, Z:-15.90 [[ 9.60822344e-01 2.68345776e-01 6.93611348e-02 2.31896117e+02] [-2.67717297e-01 9.63322227e-01 -1.83775865e-02 -4.85092240e+01] [-7.17486706e-02 -9.11579784e-04 9.97422326e-01 -1.59046522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:-48.52, Z:-15.91 [[ 9.60970338e-01 2.67704500e-01 6.97876106e-02 2.31925102e+02] [-2.67066426e-01 9.63500674e-01 -1.84925752e-02 -4.85176770e+01] [-7.21909555e-02 -8.67111529e-04 9.97390452e-01 -1.59060539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:-48.53, Z:-15.91 [[ 9.61005714e-01 2.67540406e-01 6.99295982e-02 2.31953375e+02] [-2.66899208e-01 9.63546262e-01 -1.85314199e-02 -4.85256486e+01] [-7.23383066e-02 -8.55353912e-04 9.97379786e-01 -1.59086589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:-48.53, Z:-15.91 [[ 9.61050192e-01 2.67333227e-01 7.01104429e-02 2.31982854e+02] [-2.66688251e-01 9.63603775e-01 -1.85779999e-02 -4.85343131e+01] [-7.25252041e-02 -8.43241027e-04 9.97366223e-01 -1.59115314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:-48.54, Z:-15.91 [[ 9.61094271e-01 2.67112096e-01 7.03486333e-02 2.32014744e+02] [-2.66462154e-01 9.63665108e-01 -1.86408318e-02 -4.85440118e+01] [-7.27717150e-02 -8.29651693e-04 9.97348279e-01 -1.59139761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:-48.55, Z:-15.92 [[ 9.61269132e-01 2.66319254e-01 7.09627411e-02 2.32044873e+02] [-2.65654622e-01 9.63884576e-01 -1.88187971e-02 -4.85540129e+01] [-7.34116996e-02 -7.61651355e-04 9.97301430e-01 -1.59167533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:232.07, Y:-48.56, Z:-15.92 [[ 9.61381944e-01 2.65996602e-01 7.06439360e-02 2.32074881e+02] [-2.65336052e-01 9.63973697e-01 -1.87480790e-02 -4.85635396e+01] [-7.30858214e-02 -7.20318445e-04 9.97325395e-01 -1.59203972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:-48.57, Z:-15.92 [[ 9.61583046e-01 2.65317428e-01 7.04606812e-02 2.32103888e+02] [-2.64657336e-01 9.64160898e-01 -1.87151600e-02 -4.85715496e+01] [-7.29008917e-02 -6.51755577e-04 9.97338977e-01 -1.59226556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:232.13, Y:-48.58, Z:-15.93 [[ 9.61593160e-01 2.65271250e-01 7.04965163e-02 2.32134552e+02] [-2.64610436e-01 9.64173606e-01 -1.87236660e-02 -4.85817970e+01] [-7.29377306e-02 -6.49564753e-04 9.97336285e-01 -1.59265177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:-48.59, Z:-15.93 [[ 9.61571321e-01 2.65283063e-01 7.07494993e-02 2.32166090e+02] [-2.64616611e-01 9.64170362e-01 -1.88032687e-02 -4.85932054e+01] [-7.32027590e-02 -6.40808856e-04 9.97316873e-01 -1.59288218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:-48.61, Z:-15.93 [[ 9.61463007e-01 2.64815032e-01 7.39045680e-02 2.32196308e+02] [-2.64755236e-01 9.64255351e-01 -1.07834470e-02 -4.86084973e+01] [-7.41184940e-02 -9.19873598e-03 9.97207016e-01 -1.59302242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:-48.61, Z:-15.93 [[ 9.61325400e-01 2.66681593e-01 6.88069940e-02 2.32228627e+02] [-2.65407516e-01 9.63752370e-01 -2.72069863e-02 -4.86095337e+01] [-7.35685060e-02 7.89287365e-03 9.97258932e-01 -1.59344971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:-48.63, Z:-15.94 [[ 9.61076167e-01 2.66946599e-01 7.12187860e-02 2.32257081e+02] [-2.66273341e-01 9.63711038e-01 -1.89616071e-02 -4.86269072e+01] [-7.36960667e-02 -7.40115377e-04 9.97280473e-01 -1.59371670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:-48.64, Z:-15.94 [[ 9.60949539e-01 2.67452536e-01 7.10290433e-02 2.32287718e+02] [-2.66783245e-01 9.63570733e-01 -1.89246407e-02 -4.86380035e+01] [-7.35029505e-02 -7.63733891e-04 9.97294707e-01 -1.59402886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:-48.65, Z:-15.94 [[ 9.60897279e-01 2.67607768e-01 7.11512624e-02 2.32318534e+02] [-2.66935509e-01 9.63527634e-01 -1.89719134e-02 -4.86489448e+01] [-7.36332389e-02 -7.62738429e-04 9.97285097e-01 -1.59435593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:-48.66, Z:-15.95 [[ 9.60748613e-01 2.68081786e-01 7.13740710e-02 2.32348640e+02] [-2.67405509e-01 9.63395836e-01 -1.90461958e-02 -4.86598584e+01] [-7.38674209e-02 -7.87213589e-04 9.97267760e-01 -1.59456848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:-48.67, Z:-15.95 [[ 9.60387348e-01 2.69472197e-01 7.09991360e-02 2.32378354e+02] [-2.68805807e-01 9.63007771e-01 -1.89597189e-02 -4.86728868e+01] [-7.34818368e-02 -8.76305853e-04 9.97296171e-01 -1.59489747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.41, Y:-48.68, Z:-15.95 [[ 9.60119945e-01 2.70581217e-01 7.03952926e-02 2.32409308e+02] [-2.69928152e-01 9.62696692e-01 -1.88114835e-02 -4.86836986e+01] [-7.28593495e-02 -9.40390718e-04 9.97341782e-01 -1.59522163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:-48.69, Z:-15.96 [[ 9.59793193e-01 2.71915131e-01 6.97078728e-02 2.32440552e+02] [-2.71277288e-01 9.62320698e-01 -1.86415625e-02 -4.86944784e+01] [-7.21502517e-02 -1.01811791e-03 9.97393255e-01 -1.59552000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:-48.71, Z:-15.96 [[ 9.58968873e-01 2.75052808e-01 6.87361086e-02 2.32471237e+02] [-2.74439679e-01 9.61428342e-01 -1.83957929e-02 -4.87055987e+01] [-7.11446575e-02 -1.22292288e-03 9.97465259e-01 -1.59583479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:-48.71, Z:-15.96 [[ 9.58453264e-01 2.76846483e-01 6.87267458e-02 2.32501360e+02] [-2.76237086e-01 9.60913224e-01 -1.84078236e-02 -4.87149627e+01] [-7.11365801e-02 -1.34183739e-03 9.97465682e-01 -1.59614951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.53, Y:-48.72, Z:-15.96 [[ 9.57922097e-01 2.78726636e-01 6.85326151e-02 2.32531660e+02] [-2.78124537e-01 9.60369365e-01 -1.83691111e-02 -4.87248628e+01] [-7.09365846e-02 -1.46442443e-03 9.97479752e-01 -1.59644278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.56, Y:-48.73, Z:-15.97 [[ 9.57390860e-01 2.80484037e-01 6.87855030e-02 2.32563479e+02] [-2.79881070e-01 9.59857377e-01 -1.84500121e-02 -4.87344040e+01] [-7.11992064e-02 -1.58788721e-03 9.97460852e-01 -1.59667054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:-48.74, Z:-15.97 [[ 9.56490587e-01 2.83523579e-01 6.88486575e-02 2.32594523e+02] [-2.82926327e-01 9.58963573e-01 -1.84813386e-02 -4.87444923e+01] [-7.12632499e-02 -1.80187139e-03 9.97455915e-01 -1.59697196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:-48.75, Z:-15.97 [[ 9.56175616e-01 2.84616363e-01 6.87147595e-02 2.32625770e+02] [-2.84023241e-01 9.58639684e-01 -1.84595329e-02 -4.87537797e+01] [-7.11265804e-02 -1.86603344e-03 9.97465552e-01 -1.59722940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.66, Y:-48.76, Z:-15.98 [[ 9.55954089e-01 2.85321579e-01 6.88721755e-02 2.32657045e+02] [-2.84726537e-01 9.58429941e-01 -1.85161447e-02 -4.87637568e+01] [-7.12922108e-02 -1.90915175e-03 9.97453646e-01 -1.59761913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.69, Y:-48.77, Z:-15.98 [[ 9.56006813e-01 2.84824821e-01 7.01840078e-02 2.32687621e+02] [-2.84204448e-01 9.58577715e-01 -1.88837635e-02 -4.87709714e+01] [-7.26553904e-02 -1.89360061e-03 9.97355307e-01 -1.59787448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:-48.78, Z:-15.98 [[ 9.56258894e-01 2.83888155e-01 7.05439035e-02 2.32719765e+02] [-2.83257859e-01 9.58855676e-01 -1.89941570e-02 -4.87790389e+01] [-7.30336385e-02 -1.81878349e-03 9.97327820e-01 -1.59808691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:-48.79, Z:-15.98 [[ 9.56645999e-01 2.82468007e-01 7.09947652e-02 2.32750948e+02] [-2.81824661e-01 9.59275200e-01 -1.91298515e-02 -4.87881129e+01] [-7.35070886e-02 -1.70757978e-03 9.97293233e-01 -1.59836403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:-48.80, Z:-15.99 [[ 9.57104898e-01 2.80774522e-01 7.15253974e-02 2.32782391e+02] [-2.80115692e-01 9.59772466e-01 -1.92876149e-02 -4.87976756e+01] [-7.40635780e-02 -1.57511549e-03 9.97252278e-01 -1.59861276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.81, Y:-48.81, Z:-15.99 [[ 9.58281893e-01 2.76434907e-01 7.26605496e-02 2.32813505e+02] [-2.75741346e-01 9.61031838e-01 -1.96090950e-02 -4.88054493e+01] [-7.52497399e-02 -1.24447710e-03 9.97163942e-01 -1.59892759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:-48.82, Z:-15.99 [[ 9.58785963e-01 2.73005744e-01 7.87231880e-02 2.32842047e+02] [-2.73208460e-01 9.61918232e-01 -8.39353638e-03 -4.88211079e+01] [-7.80167535e-02 -1.34602361e-02 9.96861178e-01 -1.59926470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:-48.82, Z:-16.00 [[ 9.60320126e-01 2.70076960e-01 6.95966397e-02 2.32875505e+02] [-2.68469472e-01 9.62767218e-01 -3.16769073e-02 -4.88181991e+01] [-7.55605660e-02 1.17353984e-02 9.97072155e-01 -1.59961313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:-48.83, Z:-16.00 [[ 9.61012139e-01 2.66756151e-01 7.27792851e-02 2.32905279e+02] [-2.66030277e-01 9.63763947e-01 -1.96709212e-02 -4.88349962e+01] [-7.53893904e-02 -4.57499306e-04 9.97154066e-01 -1.59980925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:-48.85, Z:-16.00 [[ 9.62086529e-01 2.62848815e-01 7.28011717e-02 2.32935813e+02] [-2.62110163e-01 9.64837024e-01 -1.96921431e-02 -4.88461298e+01] [-7.54173223e-02 -1.36381351e-04 9.97152049e-01 -1.60008251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-48.86, Z:-16.00 [[ 9.62542001e-01 2.61202351e-01 7.27064506e-02 2.32966968e+02] [-2.60459872e-01 9.65284068e-01 -1.96805317e-02 -4.88559929e+01] [-7.53229796e-02 6.22556030e-06 9.97159189e-01 -1.60040035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:-48.87, Z:-16.01 [[ 9.62878776e-01 2.59933447e-01 7.27946793e-02 2.32997657e+02] [-2.59184325e-01 9.65626526e-01 -1.97204738e-02 -4.88659350e+01] [-7.54184840e-02 1.21185874e-04 9.97151963e-01 -1.60069192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:-48.88, Z:-16.01 [[ 9.63155799e-01 2.59002630e-01 7.24468388e-02 2.33028669e+02] [-2.58257374e-01 9.65876595e-01 -1.96349600e-02 -4.88757418e+01] [-7.50602122e-02 2.01595242e-04 9.97178983e-01 -1.60097508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.06, Y:-48.89, Z:-16.01 [[ 9.63357594e-01 2.58424883e-01 7.18242756e-02 2.33058984e+02] [-2.57689680e-01 9.66031321e-01 -1.94811654e-02 -4.88855069e+01] [-7.44189178e-02 2.58954020e-04 9.97227034e-01 -1.60126990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.09, Y:-48.90, Z:-16.02 [[ 9.63394479e-01 2.58350154e-01 7.15980113e-02 2.33090095e+02] [-2.57618350e-01 9.66051303e-01 -1.94336050e-02 -4.88958474e+01] [-7.41880270e-02 2.77266270e-04 9.97244233e-01 -1.60158599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:-48.91, Z:-16.02 [[ 9.63295763e-01 2.58663778e-01 7.17936142e-02 2.33121268e+02] [-2.57927734e-01 9.65967380e-01 -1.95014349e-02 -4.89058890e+01] [-7.43946042e-02 2.68085453e-04 9.97228846e-01 -1.60183307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:-48.92, Z:-16.02 [[ 9.63054631e-01 2.59487927e-01 7.20541032e-02 2.33151175e+02] [-2.58747707e-01 9.65746327e-01 -1.95871502e-02 -4.89172952e+01] [-7.46686145e-02 2.19661743e-04 9.97208378e-01 -1.60206777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:-48.93, Z:-16.02 [[ 9.62821426e-01 2.60363232e-01 7.20131230e-02 2.33182411e+02] [-2.59625280e-01 9.65510725e-01 -1.95896257e-02 -4.89265662e+01] [-7.46298609e-02 1.64884042e-04 9.97211290e-01 -1.60230955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:-48.94, Z:-16.03 [[ 9.62522342e-01 2.61492633e-01 7.19190036e-02 2.33213363e+02] [-2.60758576e-01 9.65205467e-01 -1.95798655e-02 -4.89356417e+01] [-7.45366061e-02 9.25610747e-05 9.97218274e-01 -1.60258199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:-48.95, Z:-16.03 [[ 9.62002374e-01 2.63474874e-01 7.16409322e-02 2.33243126e+02] [-2.62751332e-01 9.64666257e-01 -1.95127997e-02 -4.89461428e+01] [-7.42507224e-02 -5.23907641e-05 9.97239604e-01 -1.60289540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:-48.96, Z:-16.03 [[ 9.61713893e-01 2.64525710e-01 7.16417278e-02 2.33273781e+02] [-2.63803981e-01 9.64378626e-01 -1.95275542e-02 -4.89550931e+01] [-7.42552911e-02 -1.19452780e-04 9.97239258e-01 -1.60318082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:-48.96, Z:-16.03 [[ 9.61692801e-01 2.64603033e-01 7.16393210e-02 2.33305947e+02] [-2.63880861e-01 9.64357414e-01 -1.95363794e-02 -4.89640110e+01] [-7.42552956e-02 -1.16250247e-04 9.97239258e-01 -1.60346472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:-48.97, Z:-16.04 [[ 9.61296844e-01 2.66027994e-01 7.16762396e-02 2.33338040e+02] [-2.65308665e-01 9.63965278e-01 -1.95513419e-02 -4.89727976e+01] [-7.42946104e-02 -2.21684207e-04 9.97236312e-01 -1.60380553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:-48.98, Z:-16.04 [[ 9.61161633e-01 2.66564003e-01 7.14978881e-02 2.33368402e+02] [-2.65848554e-01 9.63817188e-01 -1.95185898e-02 -4.89811743e+01] [-7.41138468e-02 -2.47090520e-04 9.97249756e-01 -1.60410989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:233.40, Y:-48.99, Z:-16.04 [[ 9.61066900e-01 2.66974692e-01 7.12385324e-02 2.33398878e+02] [-2.66264916e-01 9.63703503e-01 -1.94564376e-02 -4.89900236e+01] [-7.38471997e-02 -2.69383741e-04 9.97269532e-01 -1.60442297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:-49.00, Z:-16.05 [[ 9.60614754e-01 2.68586335e-01 7.12788529e-02 2.33430627e+02] [-2.67879156e-01 9.63255541e-01 -1.94813158e-02 -4.89988337e+01] [-7.38921652e-02 -3.80079539e-04 9.97266165e-01 -1.60466446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.46, Y:-49.01, Z:-16.05 [[ 9.60370030e-01 2.69561452e-01 7.08944994e-02 2.33462742e+02] [-2.68863470e-01 9.62983090e-01 -1.93908050e-02 -4.90074166e+01] [-7.34972176e-02 -4.38593128e-04 9.97295326e-01 -1.60497590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:-49.02, Z:-16.05 [[ 9.60004133e-01 2.70333039e-01 7.28842424e-02 2.33492744e+02] [-2.69939495e-01 9.62754375e-01 -1.53844676e-02 -4.90172155e+01] [-7.43285531e-02 -4.90518308e-03 9.97221743e-01 -1.60529817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-49.02, Z:-16.06 [[ 9.59590046e-01 2.72565198e-01 6.99653961e-02 2.33525857e+02] [-2.71555340e-01 9.62129867e-01 -2.37448269e-02 -4.90191273e+01] [-7.37878107e-02 3.78582259e-03 9.97266778e-01 -1.60561763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:-49.03, Z:-16.06 [[ 9.59420866e-01 2.72679191e-01 7.18168603e-02 2.33556436e+02] [-2.71968180e-01 9.62104800e-01 -1.96891349e-02 -4.90297839e+01] [-7.44641635e-02 -6.41733952e-04 9.97223484e-01 -1.60582747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:-49.04, Z:-16.06 [[ 9.59368138e-01 2.72645024e-01 7.26461784e-02 2.33587733e+02] [-2.71916286e-01 9.62114489e-01 -1.99309554e-02 -4.90378828e+01] [-7.53280167e-02 -6.32555408e-04 9.97158608e-01 -1.60611438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264000000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.62, Y:-49.05, Z:-16.06 [[ 9.59856667e-01 2.70945268e-01 7.25523334e-02 2.33620164e+02] [-2.70212541e-01 9.62594632e-01 -1.99187490e-02 -4.90454089e+01] [-7.52353774e-02 -4.85406367e-04 9.97165685e-01 -1.60646505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:-49.05, Z:-16.07 [[ 9.60302038e-01 2.69481742e-01 7.21081598e-02 2.33651440e+02] [-2.68752699e-01 9.63005434e-01 -1.98121352e-02 -4.90536113e+01] [-7.47795585e-02 -3.53628830e-04 9.97200026e-01 -1.60669326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.68, Y:-49.06, Z:-16.07 [[ 9.60844269e-01 2.67646057e-01 7.17208405e-02 2.33682861e+02] [-2.66919107e-01 9.63517279e-01 -1.97140238e-02 -4.90622788e+01] [-7.43806499e-02 -2.01555886e-04 9.97229902e-01 -1.60707300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27264000000002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:233.71, Y:-49.07, Z:-16.07 [[ 9.61903764e-01 2.63824900e-01 7.16768540e-02 2.33714659e+02] [-2.63087142e-01 9.64570583e-01 -1.97166206e-02 -4.90699384e+01] [-7.43391204e-02 1.08232856e-04 9.97233014e-01 -1.60744834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:233.75, Y:-49.08, Z:-16.08 [[ 9.62279371e-01 2.62556341e-01 7.12922117e-02 2.33746728e+02] [-2.61821923e-01 9.64916639e-01 -1.96255188e-02 -4.90782631e+01] [-7.39438457e-02 2.19367913e-04 9.97262383e-01 -1.60770996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.78, Y:-49.09, Z:-16.08 [[ 9.62724814e-01 2.60865413e-01 7.14854456e-02 2.33778958e+02] [-2.60121222e-01 9.65375110e-01 -1.96938304e-02 -4.90865391e+01] [-7.41477091e-02 3.64857780e-04 9.97247203e-01 -1.60790680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.81, Y:-49.09, Z:-16.08 [[ 9.62850247e-01 2.60381138e-01 7.15616183e-02 2.33809468e+02] [-2.59632865e-01 9.65505820e-01 -1.97303583e-02 -4.90947934e+01] [-7.42305721e-02 4.17632392e-04 9.97241018e-01 -1.60817336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.84, Y:-49.10, Z:-16.08 [[ 9.62936542e-01 2.60110629e-01 7.13840137e-02 2.33839947e+02] [-2.59364263e-01 9.65578716e-01 -1.96957377e-02 -4.91028070e+01] [-7.40499550e-02 4.51283394e-04 9.97254431e-01 -1.60842130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:-49.11, Z:-16.09 [[ 9.62947593e-01 2.60180590e-01 7.09788303e-02 2.33870882e+02] [-2.59441785e-01 9.65559864e-01 -1.95987062e-02 -4.91087914e+01] [-7.36335127e-02 4.57652573e-04 9.97285263e-01 -1.60874739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:-49.12, Z:-16.09 [[ 9.62855844e-01 2.60586263e-01 7.07348840e-02 2.33902870e+02] [-2.59853029e-01 9.65450471e-01 -1.95394779e-02 -4.91161236e+01] [-7.33827466e-02 4.33026572e-04 9.97303758e-01 -1.60906602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:-49.12, Z:-16.09 [[ 9.62698036e-01 2.61135560e-01 7.08569808e-02 2.33934046e+02] [-2.60400168e-01 9.65302053e-01 -1.95882085e-02 -4.91242169e+01] [-7.35135668e-02 4.06360115e-04 9.97294134e-01 -1.60941228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.97, Y:-49.13, Z:-16.10 [[ 9.62562769e-01 2.61549651e-01 7.11666756e-02 2.33965783e+02] [-2.60807908e-01 9.65189944e-01 -1.96877346e-02 -4.91323005e+01] [-7.38386798e-02 3.89848550e-04 9.97270123e-01 -1.60971673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:-49.14, Z:-16.10 [[ 9.62461108e-01 2.61988025e-01 7.09287704e-02 2.33997145e+02] [-2.61251321e-01 9.65071053e-01 -1.96369342e-02 -4.91394237e+01] [-7.35959447e-02 3.69550492e-04 9.97288073e-01 -1.61002417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:-49.15, Z:-16.10 [[ 9.62416337e-01 2.62288693e-01 7.04232588e-02 2.34028635e+02] [-2.61562697e-01 9.64989387e-01 -1.95048185e-02 -4.91475735e+01] [-7.30735908e-02 3.51658536e-04 9.97326490e-01 -1.61031875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264000000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:234.06, Y:-49.16, Z:-16.11 [[ 9.62424040e-01 2.62258205e-01 7.04315289e-02 2.34060211e+02] [-2.61530900e-01 9.64997668e-01 -1.95215225e-02 -4.91557836e+01] [-7.30859405e-02 3.67961453e-04 9.97325579e-01 -1.61068105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63264000000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:234.09, Y:-49.16, Z:-16.11 [[ 9.62378620e-01 2.62541936e-01 6.99937454e-02 2.34092097e+02] [-2.61823376e-01 9.64920517e-01 -1.94143251e-02 -4.91637906e+01] [-7.26354755e-02 3.57932630e-04 9.97358491e-01 -1.61096545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:-49.17, Z:-16.11 [[ 9.62389520e-01 2.62569773e-01 6.97389929e-02 2.34124468e+02] [-2.61855491e-01 9.64912939e-01 -1.93577596e-02 -4.91717707e+01] [-7.23748191e-02 3.68166775e-04 9.97377436e-01 -1.61123870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:-49.18, Z:-16.12 [[ 9.62445692e-01 2.62371335e-01 6.97106346e-02 2.34155873e+02] [-2.61656081e-01 9.64966904e-01 -1.93641453e-02 -4.91795792e+01] [-7.23490519e-02 3.96726811e-04 9.97379295e-01 -1.61153939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:-49.19, Z:-16.12 [[ 9.62918890e-01 2.60796835e-01 6.90812704e-02 2.34188020e+02] [-2.60089496e-01 9.65393566e-01 -1.92019871e-02 -4.91882987e+01] [-7.16984315e-02 5.22643276e-04 9.97426219e-01 -1.61185161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:-49.20, Z:-16.12 [[ 9.63145257e-01 2.60033428e-01 6.88028302e-02 2.34218065e+02] [-2.59328816e-01 9.65599434e-01 -1.91389151e-02 -4.91975463e+01] [-7.14127316e-02 5.90998811e-04 9.97446677e-01 -1.61208517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:-49.21, Z:-16.12 [[ 9.63508867e-01 2.58551620e-01 6.92944668e-02 2.34248883e+02] [-2.58121189e-01 9.65992168e-01 -1.52506570e-02 -4.92071692e+01] [-7.08809944e-02 -3.19222692e-03 9.97479671e-01 -1.61214348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-49.21, Z:-16.13 [[ 9.63367759e-01 2.59285806e-01 6.85086296e-02 2.34281349e+02] [-2.58299901e-01 9.65790188e-01 -2.30320048e-02 -4.92111378e+01] [-7.21368342e-02 4.49251857e-03 9.97384627e-01 -1.61263207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:-49.22, Z:-16.13 [[ 9.63162545e-01 2.59605397e-01 7.01637379e-02 2.34312256e+02] [-2.58869042e-01 9.65714550e-01 -1.95506196e-02 -4.92217168e+01] [-7.28335890e-02 6.67204871e-04 9.97343884e-01 -1.61286188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:-49.23, Z:-16.13 [[ 9.62856490e-01 2.60604739e-01 7.06579830e-02 2.34344160e+02] [-2.59859557e-01 9.65445388e-01 -1.97031141e-02 -4.92303123e+01] [-7.33511487e-02 6.10119119e-04 9.97305990e-01 -1.61313060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:-49.24, Z:-16.13 [[ 9.62309161e-01 2.62493705e-01 7.11205480e-02 2.34375014e+02] [-2.61742765e-01 9.64933584e-01 -1.98470186e-02 -4.92377685e+01] [-7.38363227e-02 4.83678938e-04 9.97270256e-01 -1.61341013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:-49.25, Z:-16.14 [[ 9.62145326e-01 2.63194355e-01 7.07467480e-02 2.34405721e+02] [-2.62452136e-01 9.64742731e-01 -1.97570217e-02 -4.92464172e+01] [-7.34523474e-02 4.41490995e-04 9.97298630e-01 -1.61368486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:-49.26, Z:-16.14 [[ 9.62017458e-01 2.63672118e-01 7.07066136e-02 2.34437306e+02] [-2.62931434e-01 9.64612277e-01 -1.97539058e-02 -4.92558810e+01] [-7.34130217e-02 4.12610928e-04 9.97301538e-01 -1.61396187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-49.27, Z:-16.14 [[ 9.62025478e-01 2.63532463e-01 7.11169505e-02 2.34468198e+02] [-2.62781687e-01 9.64650428e-01 -1.98830908e-02 -4.92662137e+01] [-7.38428366e-02 4.39807697e-04 9.97269794e-01 -1.61424248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264000000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:234.50, Y:-49.28, Z:-16.15 [[ 9.62056213e-01 2.62918536e-01 7.29498969e-02 2.34498254e+02] [-2.62421831e-01 9.64812444e-01 -1.64842198e-02 -4.92778214e+01] [-7.47169753e-02 -3.28489944e-03 9.97199370e-01 -1.61455943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:-49.28, Z:-16.15 [[ 9.62245749e-01 2.62933089e-01 7.03513223e-02 2.34530057e+02] [-2.61907861e-01 9.64804620e-01 -2.35863753e-02 -4.92818281e+01] [-7.40769193e-02 4.27032502e-03 9.97243388e-01 -1.61478357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-49.29, Z:-16.15 [[ 9.62312878e-01 2.62504207e-01 7.10314498e-02 2.34559709e+02] [-2.61749867e-01 9.64930690e-01 -1.98939821e-02 -4.92930549e+01] [-7.37626799e-02 5.51762634e-04 9.97275670e-01 -1.61502016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:-49.30, Z:-16.15 [[ 9.62431287e-01 2.62265744e-01 7.03043134e-02 2.34591514e+02] [-2.61525550e-01 9.64995519e-01 -1.96985976e-02 -4.93030015e+01] [-7.30096148e-02 5.72172432e-04 9.97331073e-01 -1.61539089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.62, Y:-49.32, Z:-16.16 [[ 9.62341480e-01 2.62563918e-01 7.04206298e-02 2.34621800e+02] [-2.61820986e-01 9.64914437e-01 -1.97459126e-02 -4.93151113e+01] [-7.31344465e-02 5.64712036e-04 9.97321931e-01 -1.61568331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.65, Y:-49.33, Z:-16.16 [[ 9.61951165e-01 2.63738281e-01 7.13587778e-02 2.34652563e+02] [-2.62977466e-01 9.64594149e-01 -2.00244793e-02 -4.93253194e+01] [-7.41134813e-02 4.96820565e-04 9.97249690e-01 -1.61592680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.68, Y:-49.34, Z:-16.16 [[ 9.61506554e-01 2.65198995e-01 7.19349729e-02 2.34684004e+02] [-2.64428839e-01 9.64193618e-01 -2.02004092e-02 -4.93350722e+01] [-7.47163700e-02 4.01144442e-04 9.97204745e-01 -1.61617170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:-49.35, Z:-16.16 [[ 9.60453430e-01 2.68885227e-01 7.23183535e-02 2.34715237e+02] [-2.68116130e-01 9.63172216e-01 -2.03229700e-02 -4.93462714e+01] [-7.51195752e-02 1.29549179e-04 9.97174525e-01 -1.61638910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:-49.36, Z:-16.17 [[ 9.59855849e-01 2.70956397e-01 7.25215800e-02 2.34745200e+02] [-2.70187715e-01 9.62591622e-01 -2.03952932e-02 -4.93558674e+01] [-7.53349005e-02 -1.78985955e-05 9.97158289e-01 -1.61670100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:-49.37, Z:-16.17 [[ 9.58513893e-01 2.75445288e-01 7.33553760e-02 2.34773570e+02] [-2.75048171e-01 9.61302877e-01 -1.56614852e-02 -4.93673761e+01] [-7.48306163e-02 -5.16451088e-03 9.97182885e-01 -1.61700051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:-49.37, Z:-16.17 [[ 9.58128691e-01 2.77989578e-01 6.86382264e-02 2.34806750e+02] [-2.76980862e-01 9.60575862e-01 -2.39920048e-02 -4.93709965e+01] [-7.26017508e-02 3.97595310e-03 9.97353086e-01 -1.61734047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:-49.38, Z:-16.18 [[ 9.57641214e-01 2.79438208e-01 6.95528092e-02 2.34836955e+02] [-2.78750825e-01 9.60163477e-01 -1.95978209e-02 -4.93829391e+01] [-7.22584471e-02 -6.20221904e-04 9.97385749e-01 -1.61765020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:-49.39, Z:-16.18 [[ 9.57232367e-01 2.80838671e-01 6.95401744e-02 2.34867070e+02] [-2.80154182e-01 9.59754726e-01 -1.96086758e-02 -4.93924859e+01] [-7.22483855e-02 -7.11911549e-04 9.97386417e-01 -1.61794298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.90, Y:-49.40, Z:-16.18 [[ 9.56813476e-01 2.82416897e-01 6.89105842e-02 2.34898832e+02] [-2.81748286e-01 9.59291421e-01 -1.94389489e-02 -4.94025966e+01] [-7.15952199e-02 -8.15990703e-04 9.97433436e-01 -1.61822579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:234.93, Y:-49.41, Z:-16.19 [[ 9.56655208e-01 2.83055897e-01 6.84848395e-02 2.34929335e+02] [-2.82396139e-01 9.59103042e-01 -1.93332513e-02 -4.94118351e+01] [-7.11564087e-02 -8.44598693e-04 9.97464812e-01 -1.61857790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:-49.42, Z:-16.19 [[ 9.56523977e-01 2.83520202e-01 6.83971914e-02 2.34960614e+02] [-2.82862389e-01 9.58965873e-01 -1.93215587e-02 -4.94206624e+01] [-7.10686246e-02 -8.65458825e-04 9.97471053e-01 -1.61882458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.99, Y:-49.43, Z:-16.19 [[ 9.56223775e-01 2.84559792e-01 6.82774993e-02 2.34990681e+02] [-2.83905887e-01 9.58657846e-01 -1.93023761e-02 -4.94296254e+01] [-7.09474406e-02 -9.26993113e-04 9.97479625e-01 -1.61911729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:-49.44, Z:-16.19 [[ 9.56112143e-01 2.85027992e-01 6.78867737e-02 2.35022750e+02] [-2.84381804e-01 9.58518729e-01 -1.92051113e-02 -4.94386977e+01] [-7.05447383e-02 -9.43523009e-04 9.97508170e-01 -1.61938004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:-49.45, Z:-16.20 [[ 9.55835198e-01 2.85929521e-01 6.79954715e-02 2.35054156e+02] [-2.85282529e-01 9.58250131e-01 -1.92500789e-02 -4.94480781e+01] [-7.06608353e-02 -9.98017133e-04 9.97499900e-01 -1.61962036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:-49.46, Z:-16.20 [[ 9.55699174e-01 2.86328198e-01 6.82294065e-02 2.35085277e+02] [-2.85676728e-01 9.58131060e-01 -1.93307764e-02 -4.94568122e+01] [-7.09076599e-02 -1.01714657e-03 9.97482365e-01 -1.61986617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:-49.47, Z:-16.20 [[ 9.55639803e-01 2.86579271e-01 6.80065282e-02 2.35115644e+02] [-2.85931755e-01 9.58055991e-01 -1.92808098e-02 -4.94654992e+01] [-7.06795422e-02 -1.01971667e-03 9.97498553e-01 -1.62013040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:-49.47, Z:-16.20 [[ 9.55657562e-01 2.86615927e-01 6.76012896e-02 2.35147583e+02] [-2.85975327e-01 9.58045042e-01 -1.91783906e-02 -4.94738721e+01] [-7.02619125e-02 -1.00432682e-03 9.97528072e-01 -1.62033745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:-49.48, Z:-16.21 [[ 9.55538130e-01 2.86964406e-01 6.78108511e-02 2.35178211e+02] [-2.86319688e-01 9.57940703e-01 -1.92521525e-02 -4.94817352e+01] [-7.04834569e-02 -1.01941591e-03 9.97512428e-01 -1.62057163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:-49.49, Z:-16.21 [[ 9.55445086e-01 2.87279556e-01 6.77874901e-02 2.35209098e+02] [-2.86635148e-01 9.57846228e-01 -1.92586552e-02 -4.94894522e+01] [-7.04626096e-02 -1.02968980e-03 9.97513890e-01 -1.62079302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:-49.50, Z:-16.21 [[ 9.55270864e-01 2.87727082e-01 6.83425466e-02 2.35241531e+02] [-2.87072283e-01 9.57711859e-01 -1.94293416e-02 -4.94962452e+01] [-7.10428151e-02 -1.05896697e-03 9.97472705e-01 -1.62096642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:-49.51, Z:-16.21 [[ 9.55246840e-01 2.87807802e-01 6.83384516e-02 2.35273600e+02] [-2.87152180e-01 9.57687614e-01 -1.94437335e-02 -4.95055070e+01] [-7.10429468e-02 -1.04997033e-03 9.97472705e-01 -1.62125112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:-49.51, Z:-16.22 [[ 9.55163597e-01 2.87937592e-01 6.89524888e-02 2.35304326e+02] [-2.87270100e-01 9.57648584e-01 -1.96234348e-02 -4.95138749e+01] [-7.16825778e-02 -1.06439781e-03 9.97426927e-01 -1.62151548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:-49.52, Z:-16.22 [[ 9.55290638e-01 2.87515217e-01 6.89550381e-02 2.35336168e+02] [-2.86845584e-01 9.57775527e-01 -1.96379838e-02 -4.95225020e+01] [-7.16896671e-02 -1.01946608e-03 9.97426465e-01 -1.62173184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:-49.54, Z:-16.21 [[ 9.55817532e-01 2.85247287e-01 7.10410467e-02 2.35363716e+02] [-2.85851195e-01 9.58272453e-01 -1.73187745e-03 -4.95396544e+01] [-6.85706915e-02 -1.86518092e-02 9.97471889e-01 -1.62118038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:-49.53, Z:-16.22 [[ 9.55793346e-01 2.87398517e-01 6.21383277e-02 2.35400201e+02] [-2.85615365e-01 9.57664784e-01 -3.60835906e-02 -4.95274815e+01] [-6.98780587e-02 1.67407947e-02 9.97415060e-01 -1.62236154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:-49.55, Z:-16.23 [[ 9.55964085e-01 2.84384267e-01 7.25138399e-02 2.35425669e+02] [-2.84434249e-01 9.58644900e-01 -9.85467851e-03 -4.95502624e+01] [-7.23175383e-02 -1.12047009e-02 9.97318720e-01 -1.62257365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:-49.55, Z:-16.23 [[ 9.56171758e-01 2.85757450e-01 6.38611661e-02 2.35459137e+02] [-2.84460441e-01 9.58256628e-01 -2.87487796e-02 -4.95467824e+01] [-6.94105637e-02 9.32279566e-03 9.97544615e-01 -1.62283910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:-49.56, Z:-16.23 [[ 9.56255542e-01 2.84878866e-01 6.64783478e-02 2.35488452e+02] [-2.84248035e-01 9.58563222e-01 -1.89632277e-02 -4.95603666e+01] [-6.91259221e-02 -7.62648207e-04 9.97607651e-01 -1.62304277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:-49.57, Z:-16.23 [[ 9.56391295e-01 2.84373041e-01 6.66908084e-02 2.35520095e+02] [-2.83735957e-01 9.58713441e-01 -1.90379593e-02 -4.95673987e+01] [-6.93512568e-02 -7.14841795e-04 9.97592047e-01 -1.62320640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:-49.58, Z:-16.23 [[ 9.56299185e-01 2.83375629e-01 7.20425020e-02 2.35547954e+02] [-2.83321294e-01 9.58959803e-01 -1.11866628e-02 -4.95800532e+01] [-7.22558911e-02 -9.71337841e-03 9.97338827e-01 -1.62348955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.58, Y:-49.58, Z:-16.24 [[ 9.56367696e-01 2.84775184e-01 6.52987351e-02 2.35581977e+02] [-2.83530014e-01 9.58560346e-01 -2.77991877e-02 -4.95788453e+01] [-7.05092969e-02 8.07209380e-03 9.97478461e-01 -1.62375461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-49.59, Z:-16.24 [[ 9.56398414e-01 2.84062296e-01 6.79020289e-02 2.35612347e+02] [-2.83399604e-01 9.58805581e-01 -1.94041709e-02 -4.95927923e+01] [-7.06168376e-02 -6.85289813e-04 9.97503280e-01 -1.62395178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:-49.60, Z:-16.24 [[ 9.56476095e-01 2.83924426e-01 6.73824889e-02 2.35643393e+02] [-2.83270428e-01 9.58846438e-01 -1.92710516e-02 -4.96014873e+01] [-7.00809817e-02 -6.55166312e-04 9.97541090e-01 -1.62418520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:-49.61, Z:-16.24 [[ 9.56301366e-01 2.84468884e-01 6.75658988e-02 2.35675612e+02] [-2.83812123e-01 9.58685026e-01 -1.93313214e-02 -4.96100046e+01] [-7.02735748e-02 -6.89452141e-04 9.97527518e-01 -1.62444719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19264000000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:235.71, Y:-49.62, Z:-16.25 [[ 9.56014341e-01 2.85397844e-01 6.77100423e-02 2.35705837e+02] [-2.84739566e-01 9.58408846e-01 -1.93872225e-02 -4.96183423e+01] [-7.04269750e-02 -7.45265252e-04 9.97516659e-01 -1.62483893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:-49.63, Z:-16.25 [[ 9.55749510e-01 2.86518252e-01 6.67095659e-02 2.35735068e+02] [-2.85881151e-01 9.58074447e-01 -1.91133815e-02 -4.96258072e+01] [-6.93890631e-02 -8.03402468e-04 9.97589351e-01 -1.62499394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:-49.63, Z:-16.25 [[ 9.55069328e-01 2.88998335e-01 6.57460369e-02 2.35765069e+02] [-2.88385042e-01 9.57329114e-01 -1.88423778e-02 -4.96322914e+01] [-6.83860110e-02 -9.64396540e-04 9.97658470e-01 -1.62532643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:-49.64, Z:-16.26 [[ 9.54746389e-01 2.90222999e-01 6.50380203e-02 2.35794938e+02] [-2.89625694e-01 9.56958477e-01 -1.86394649e-02 -4.96396945e+01] [-6.76482863e-02 -1.04071997e-03 9.97708688e-01 -1.62561041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31264000000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:235.83, Y:-49.65, Z:-16.26 [[ 9.54387306e-01 2.91620595e-01 6.40491941e-02 2.35825430e+02] [-2.91044506e-01 9.56533412e-01 -1.83555900e-02 -4.96465648e+01] [-6.66180623e-02 -1.12282400e-03 9.97777918e-01 -1.62602139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:-49.65, Z:-16.26 [[ 9.54322247e-01 2.91747520e-01 6.44393793e-02 2.35854638e+02] [-2.91164602e-01 9.56494689e-01 -1.84684740e-02 -4.96539765e+01] [-6.70240555e-02 -1.13759061e-03 9.97750711e-01 -1.62625472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:-49.66, Z:-16.26 [[ 9.54356825e-01 2.91556419e-01 6.47912478e-02 2.35881824e+02] [-2.90966272e-01 9.56552973e-01 -1.85752298e-02 -4.96612296e+01] [-6.73919882e-02 -1.12467047e-03 9.97725942e-01 -1.62645764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:-49.67, Z:-16.27 [[ 9.54539408e-01 2.90932283e-01 6.49070495e-02 2.35910556e+02] [-2.90338765e-01 9.56743032e-01 -1.86057127e-02 -4.96684254e+01] [-6.75123698e-02 -1.08514657e-03 9.97717847e-01 -1.62663109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:-49.68, Z:-16.27 [[ 9.54608895e-01 2.90683590e-01 6.49992897e-02 2.35938324e+02] [-2.90087904e-01 9.56818637e-01 -1.86307136e-02 -4.96755752e+01] [-6.76081746e-02 -1.07046276e-03 9.97711376e-01 -1.62682190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:235.97, Y:-49.68, Z:-16.27 [[ 9.54538172e-01 2.90791851e-01 6.55513344e-02 2.35967984e+02] [-2.90186463e-01 9.56785718e-01 -1.87857876e-02 -4.96833615e+01] [-6.81813345e-02 -1.09035856e-03 9.97672349e-01 -1.62707724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:-49.69, Z:-16.27 [[ 9.54403490e-01 2.91417423e-01 6.47291518e-02 2.35996915e+02] [-2.90828562e-01 9.56595332e-01 -1.85503946e-02 -4.96892181e+01] [-6.73255126e-02 -1.12052484e-03 9.97730434e-01 -1.62727440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:-49.70, Z:-16.28 [[ 9.54229984e-01 2.92001918e-01 6.46530520e-02 2.36025322e+02] [-2.91415823e-01 9.56417028e-01 -1.85279675e-02 -4.96966301e+01] [-6.72454819e-02 -1.16098028e-03 9.97735785e-01 -1.62751949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:-49.70, Z:-16.28 [[ 9.54067794e-01 2.92460884e-01 6.49713379e-02 2.36052699e+02] [-2.91870131e-01 9.56276733e-01 -1.86181618e-02 -4.97034641e+01] [-6.75756629e-02 -1.20020441e-03 9.97713430e-01 -1.62776917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:-49.71, Z:-16.28 [[ 9.53956116e-01 2.92822204e-01 6.49837339e-02 2.36081073e+02] [-2.92232357e-01 9.56166117e-01 -1.86173525e-02 -4.97100991e+01] [-6.75868187e-02 -1.23021242e-03 9.97712638e-01 -1.62800816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.11, Y:-49.72, Z:-16.28 [[ 9.54034531e-01 2.92554917e-01 6.50364057e-02 2.36108793e+02] [-2.91963716e-01 9.56247951e-01 -1.86291544e-02 -4.97162414e+01] [-6.76409804e-02 -1.21541413e-03 9.97708986e-01 -1.62824614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.14, Y:-49.72, Z:-16.29 [[ 9.54243434e-01 2.91891298e-01 6.49533649e-02 2.36136710e+02] [-2.91300296e-01 9.56450783e-01 -1.86020592e-02 -4.97239076e+01] [-6.75544760e-02 -1.17004160e-03 9.97714901e-01 -1.62850229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.16, Y:-49.73, Z:-16.29 [[ 9.54705621e-01 2.90505207e-01 6.43731399e-02 2.36164550e+02] [-2.89921797e-01 9.56872818e-01 -1.84326421e-02 -4.97319005e+01] [-6.69516863e-02 -1.06542941e-03 9.97755650e-01 -1.62878929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:-49.74, Z:-16.29 [[ 9.55035083e-01 2.89506346e-01 6.39848819e-02 2.36191749e+02] [-2.88927911e-01 9.57175580e-01 -1.83185878e-02 -4.97391826e+01] [-6.65481139e-02 -9.92124226e-04 9.97782724e-01 -1.62900287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:-49.75, Z:-16.29 [[ 9.55328476e-01 2.88752479e-01 6.30040323e-02 2.36220105e+02] [-2.88190365e-01 9.57403332e-01 -1.80325554e-02 -4.97466459e+01] [-6.55272155e-02 -9.30141413e-04 9.97850349e-01 -1.62924461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264000000003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:236.25, Y:-49.75, Z:-16.30 [[ 9.55902840e-01 2.86940258e-01 6.25703490e-02 2.36248908e+02] [-2.86382087e-01 9.57948143e-01 -1.79068400e-02 -4.97544997e+01] [-6.50773430e-02 -8.01827917e-04 9.97879901e-01 -1.62958220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:-49.76, Z:-16.30 [[ 9.56024289e-01 2.86393981e-01 6.32142858e-02 2.36276342e+02] [-2.85823151e-01 9.58111626e-01 -1.80897052e-02 -4.97620843e+01] [-6.57471248e-02 -7.73908806e-04 9.97836017e-01 -1.62977354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:236.30, Y:-49.77, Z:-16.30 [[ 9.56277676e-01 2.85435106e-01 6.37166061e-02 2.36303997e+02] [-2.84853199e-01 9.58397771e-01 -1.82309426e-02 -4.97694420e+01] [-6.62696043e-02 -7.16035725e-04 9.97801497e-01 -1.62994195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.33, Y:-49.78, Z:-16.30 [[ 9.56524999e-01 2.84387879e-01 6.46796768e-02 2.36332363e+02] [-2.83786024e-01 9.58709082e-01 -1.85037371e-02 -4.97782683e+01] [-6.72712321e-02 -6.55901230e-04 9.97734509e-01 -1.63019999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:-49.79, Z:-16.30 [[ 9.56773761e-01 2.83622538e-01 6.43601243e-02 2.36361381e+02] [-2.83025032e-01 9.58935814e-01 -1.84102234e-02 -4.97876016e+01] [-6.69387825e-02 -6.01107525e-04 9.97756903e-01 -1.63043202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:-49.80, Z:-16.31 [[ 9.57345409e-01 2.81762281e-01 6.40295690e-02 2.36391802e+02] [-2.81166975e-01 9.59484129e-01 -1.83122393e-02 -4.97988572e+01] [-6.65950536e-02 -4.71861986e-04 9.97779974e-01 -1.63071601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.42, Y:-49.81, Z:-16.31 [[ 9.57542444e-01 2.80925839e-01 6.47544663e-02 2.36421418e+02] [-2.80314205e-01 9.59729393e-01 -1.85321032e-02 -4.98086967e+01] [-6.73529113e-02 -4.06321375e-04 9.97729132e-01 -1.63098280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:-49.82, Z:-16.31 [[ 9.57728634e-01 2.80257039e-01 6.48988032e-02 2.36451463e+02] [-2.79640388e-01 9.59924929e-01 -1.85845013e-02 -4.98184989e+01] [-6.75064164e-02 -3.49417457e-04 9.97718779e-01 -1.63124032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:-49.83, Z:-16.32 [[ 9.58201567e-01 2.79007135e-01 6.32832913e-02 2.36480876e+02] [-2.78417371e-01 9.60288998e-01 -1.81330820e-02 -4.98299080e+01] [-6.58295077e-02 -2.44020014e-04 9.97830856e-01 -1.63154159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:-49.84, Z:-16.32 [[ 9.58427843e-01 2.78354971e-01 6.27262347e-02 2.36509239e+02] [-2.77773093e-01 9.60478254e-01 -1.79897688e-02 -4.98396571e+01] [-6.52547260e-02 -1.81764879e-04 9.97868622e-01 -1.63181735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.54, Y:-49.85, Z:-16.32 [[ 9.58613726e-01 2.77592337e-01 6.32630964e-02 2.36537071e+02] [-2.76998865e-01 9.60698952e-01 -1.81425532e-02 -4.98516804e+01] [-6.58130242e-02 -1.32105354e-04 9.97831964e-01 -1.63214535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:-49.86, Z:-16.32 [[ 9.58633636e-01 2.77662968e-01 6.26484472e-02 2.36567725e+02] [-2.77081073e-01 9.60678540e-01 -1.79672188e-02 -4.98627988e+01] [-6.51738501e-02 -1.34718722e-04 9.97873915e-01 -1.63236011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:-49.87, Z:-16.33 [[ 9.58503629e-01 2.78144493e-01 6.25014687e-02 2.36598861e+02] [-2.77565499e-01 9.60539232e-01 -1.79381362e-02 -4.98744236e+01] [-6.50245065e-02 -1.54482725e-04 9.97883655e-01 -1.63264214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15264000000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.63, Y:-49.89, Z:-16.33 [[ 9.58063527e-01 2.79478859e-01 6.32917441e-02 2.36628431e+02] [-2.78887095e-01 9.60151817e-01 -1.81789977e-02 -4.98874298e+01] [-6.58503286e-02 -2.34615939e-04 9.97829484e-01 -1.63298740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:-49.90, Z:-16.33 [[ 9.57633113e-01 2.80962033e-01 6.32388942e-02 2.36659981e+02] [-2.80373673e-01 9.59718829e-01 -1.81761457e-02 -4.98983906e+01] [-6.57983643e-02 -3.24442044e-04 9.97832887e-01 -1.63316415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:-49.91, Z:-16.33 [[ 9.57138659e-01 2.82418334e-01 6.42298324e-02 2.36690143e+02] [-2.81813699e-01 9.59291254e-01 -1.84750947e-02 -4.99085942e+01] [-6.68328220e-02 -4.17619279e-04 9.97764100e-01 -1.63343639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:-49.92, Z:-16.34 [[ 9.55934657e-01 2.86236640e-01 6.52496558e-02 2.36720269e+02] [-2.85620591e-01 9.58158714e-01 -1.87818492e-02 -4.99210631e+01] [-6.78955797e-02 -6.82424696e-04 9.97692199e-01 -1.63371202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:-49.94, Z:-16.34 [[ 9.55217684e-01 2.87222073e-01 7.11523497e-02 2.36746648e+02] [-2.87378938e-01 9.57781494e-01 -8.24347005e-03 -4.99374287e+01] [-7.05161103e-02 -1.25733783e-02 9.97431395e-01 -1.63395132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:-49.93, Z:-16.34 [[ 9.54426998e-01 2.91805846e-01 6.25975562e-02 2.36779793e+02] [-2.90437215e-01 9.56418857e-01 -3.01528555e-02 -4.99334423e+01] [-6.86682627e-02 1.05980394e-02 9.97583255e-01 -1.63431247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:-49.95, Z:-16.35 [[ 9.53556977e-01 2.93908539e-01 6.59307458e-02 2.36808000e+02] [-2.93296244e-01 9.55832770e-01 -1.90007449e-02 -4.99476186e+01] [-6.86032486e-02 -1.21894728e-03 9.97643277e-01 -1.63457338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:-49.96, Z:-16.35 [[ 9.51795192e-01 2.99860338e-01 6.45731353e-02 2.36837514e+02] [-2.99285765e-01 9.53981769e-01 -1.86229582e-02 -4.99555821e+01] [-6.71858804e-02 -1.60057819e-03 9.97739192e-01 -1.63493673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:-49.96, Z:-16.35 [[ 9.50935575e-01 3.02703662e-01 6.39689363e-02 2.36867160e+02] [-3.02146249e-01 9.53083054e-01 -1.84482304e-02 -4.99638971e+01] [-6.65520560e-02 -1.78489560e-03 9.97781358e-01 -1.63521314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.90, Y:-49.97, Z:-16.36 [[ 9.49429473e-01 3.07407289e-01 6.39095799e-02 2.36895292e+02] [-3.06861339e-01 9.51575698e-01 -1.84339445e-02 -4.99690927e+01] [-6.64815320e-02 -2.10964902e-03 9.97785425e-01 -1.63554249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.92, Y:-49.98, Z:-16.36 [[ 9.48811331e-01 3.09235085e-01 6.42706778e-02 2.36923145e+02] [-3.08687277e-01 9.50982959e-01 -1.85358274e-02 -4.99757500e+01] [-6.68522475e-02 -2.25253745e-03 9.97760344e-01 -1.63569920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:-49.98, Z:-16.36 [[ 9.48352917e-01 3.10510714e-01 6.48832929e-02 2.36951103e+02] [-3.09955602e-01 9.50566930e-01 -1.87092424e-02 -4.99823835e+01] [-6.74853328e-02 -2.36797551e-03 9.97717456e-01 -1.63593540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:-49.99, Z:-16.36 [[ 9.48003445e-01 3.11605668e-01 6.47408357e-02 2.36978349e+02] [-3.11055743e-01 9.50208365e-01 -1.86651380e-02 -4.99863049e+01] [-6.73334465e-02 -2.44339362e-03 9.97727536e-01 -1.63615021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:-50.00, Z:-16.37 [[ 9.48068199e-01 3.09790798e-01 7.20857233e-02 2.37005782e+02] [-3.10117883e-01 9.50673123e-01 -6.89293303e-03 -4.99992347e+01] [-7.06653269e-02 -1.58201013e-02 9.97374622e-01 -1.63650065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:-49.99, Z:-16.37 [[ 9.48058881e-01 3.11952162e-01 6.22109802e-02 2.37037346e+02] [-3.10547841e-01 9.50040967e-01 -3.13400515e-02 -4.99902706e+01] [-6.88795767e-02 1.03927285e-02 9.97570847e-01 -1.63675496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:-50.00, Z:-16.37 [[ 9.48345488e-01 3.10237493e-01 6.62837355e-02 2.37063331e+02] [-3.09659013e-01 9.50656004e-01 -1.90907664e-02 -5.00032103e+01] [-6.89357027e-02 -2.42071390e-03 9.97618168e-01 -1.63691436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.09, Y:-50.01, Z:-16.37 [[ 9.49013733e-01 3.08069396e-01 6.68294985e-02 2.37092399e+02] [-3.07476247e-01 9.51361142e-01 -1.92440835e-02 -5.00072914e+01] [-6.95075013e-02 -2.28558382e-03 9.97578811e-01 -1.63719782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:-50.01, Z:-16.37 [[ 9.49310528e-01 3.07124185e-01 6.69645946e-02 2.37120157e+02] [-3.06526393e-01 9.51666852e-01 -1.92814470e-02 -5.00132790e+01] [-6.96497836e-02 -2.22233499e-03 9.97569030e-01 -1.63729869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:-50.02, Z:-16.38 [[ 9.49321426e-01 3.07090346e-01 6.69652850e-02 2.37148261e+02] [-3.06492639e-01 9.51677771e-01 -1.92790485e-02 -5.00212853e+01] [-6.96497829e-02 -2.22235307e-03 9.97569030e-01 -1.63755223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:-50.02, Z:-16.38 [[ 9.49870632e-01 3.05253352e-01 6.75734690e-02 2.37176883e+02] [-3.04640246e-01 9.52268840e-01 -1.94519041e-02 -5.00238183e+01] [-7.02858679e-02 -2.10880573e-03 9.97524661e-01 -1.63775713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:-50.03, Z:-16.38 [[ 9.50091453e-01 3.03724170e-01 7.12591023e-02 2.37205209e+02] [-3.03532367e-01 9.52721653e-01 -1.37678549e-02 -5.00329690e+01] [-7.20717201e-02 -8.54872279e-03 9.97362816e-01 -1.63803437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:-50.03, Z:-16.38 [[ 9.50309778e-01 3.04150549e-01 6.63608995e-02 2.37234645e+02] [-3.03079414e-01 9.52613361e-01 -2.58969684e-02 -5.00303407e+01] [-7.10928567e-02 4.49751972e-03 9.97459562e-01 -1.63821722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:-50.05, Z:-16.39 [[ 9.50736800e-01 2.98495548e-01 8.36656724e-02 2.37257043e+02] [-2.99988671e-01 9.53926400e-01 5.58753684e-03 -5.00507863e+01] [-7.81430388e-02 -3.04110308e-02 9.96478216e-01 -1.63870555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:-50.03, Z:-16.39 [[ 9.51508675e-01 3.01408951e-01 6.15133047e-02 2.37295332e+02] [-2.98899941e-01 9.53136784e-01 -4.67877811e-02 -5.00261482e+01] [-7.27328494e-02 2.61326564e-02 9.97009036e-01 -1.63889590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:-50.05, Z:-16.39 [[ 9.53130601e-01 2.94688764e-01 6.85608490e-02 2.37319553e+02] [-2.94031052e-01 9.55592322e-01 -1.97244694e-02 -5.00451731e+01] [-7.13288003e-02 -1.35902323e-03 9.97451931e-01 -1.63908737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:-50.05, Z:-16.39 [[ 9.53817453e-01 2.91764928e-01 7.14527393e-02 2.37346320e+02] [-2.91607973e-01 9.56451586e-01 -1.28512143e-02 -5.00547519e+01] [-7.20906195e-02 -8.57847593e-03 9.97361195e-01 -1.63939963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.38, Y:-50.05, Z:-16.40 [[ 9.54425305e-01 2.91298975e-01 6.49403096e-02 2.37375976e+02] [-2.90170820e-01 9.56611064e-01 -2.63849795e-02 -5.00521690e+01] [-6.98085362e-02 6.33870918e-03 9.97540269e-01 -1.63967012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-50.07, Z:-16.40 [[ 9.54944058e-01 2.88139030e-01 7.11178318e-02 2.37400484e+02] [-2.88041162e-01 9.57544697e-01 -1.18508073e-02 -5.00655531e+01] [-7.15131828e-02 -9.16800491e-03 9.97397520e-01 -1.63998194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:-50.06, Z:-16.40 [[ 9.55321223e-01 2.88377286e-01 6.48066506e-02 2.37430733e+02] [-2.87177677e-01 9.57487555e-01 -2.73233164e-02 -5.00582849e+01] [-6.99309853e-02 7.49152063e-03 9.97523701e-01 -1.64013064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:-50.07, Z:-16.40 [[ 9.55472641e-01 2.87358444e-01 6.70608465e-02 2.37456939e+02] [-2.86712560e-01 9.57822773e-01 -1.92728655e-02 -5.00674686e+01] [-6.97706266e-02 -8.12491298e-04 9.97562730e-01 -1.64037921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:-50.07, Z:-16.41 [[ 9.55450215e-01 2.87503717e-01 6.67570212e-02 2.37484382e+02] [-2.86864371e-01 9.57779168e-01 -1.91806921e-02 -5.00688657e+01] [-6.94530045e-02 -8.24014454e-04 9.97584884e-01 -1.64059345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:-50.07, Z:-16.41 [[ 9.55436984e-01 2.87602815e-01 6.65190930e-02 2.37511515e+02] [-2.86968686e-01 9.57749406e-01 -1.91062350e-02 -5.00738857e+01] [-6.92036288e-02 -8.34093159e-04 9.97602206e-01 -1.64086635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:-50.08, Z:-16.41 [[ 9.55494300e-01 2.87506776e-01 6.61097329e-02 2.37538539e+02] [-2.86880551e-01 9.57778247e-01 -1.89836577e-02 -5.00791561e+01] [-6.87763943e-02 -8.26819829e-04 9.97631758e-01 -1.64115233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:-50.08, Z:-16.41 [[ 9.55714885e-01 2.86825630e-01 6.58795571e-02 2.37566956e+02] [-2.86202492e-01 9.57982489e-01 -1.89125353e-02 -5.00817162e+01] [-6.85360620e-02 -7.79901892e-04 9.97648335e-01 -1.64143012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.59, Y:-50.09, Z:-16.42 [[ 9.55844746e-01 2.86421676e-01 6.57529156e-02 2.37594517e+02] [-2.85800327e-01 9.58103363e-01 -1.88711024e-02 -5.00861235e+01] [-6.84031824e-02 -7.54360783e-04 9.97657474e-01 -1.64173763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:-50.09, Z:-16.42 [[ 9.55890370e-01 2.86154786e-01 6.62498192e-02 2.37621000e+02] [-2.85523709e-01 9.58183115e-01 -1.90086631e-02 -5.00906136e+01] [-6.89188781e-02 -7.45696046e-04 9.97621989e-01 -1.64191481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:-50.09, Z:-16.42 [[ 9.55805992e-01 2.86272556e-01 6.69546864e-02 2.37649672e+02] [-2.85628699e-01 9.58147918e-01 -1.92045095e-02 -5.00933176e+01] [-6.96502174e-02 -7.68394699e-04 9.97571179e-01 -1.64209464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:-50.11, Z:-16.43 [[ 9.55655731e-01 2.84806828e-01 7.48812022e-02 2.37673955e+02] [-2.85257882e-01 9.58438641e-01 -4.82817808e-03 -5.01073292e+01] [-7.31441358e-02 -1.67463771e-02 9.97180773e-01 -1.64253531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:-50.09, Z:-16.43 [[ 9.55881415e-01 2.86998762e-01 6.26293152e-02 2.37707239e+02] [-2.85283879e-01 9.57804335e-01 -3.49852107e-02 -5.00941471e+01] [-7.00273417e-02 1.55745787e-02 9.97423483e-01 -1.64259818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:-50.11, Z:-16.43 [[ 9.56029467e-01 2.85283590e-01 6.79774317e-02 2.37731943e+02] [-2.84618423e-01 9.58442880e-01 -1.94833210e-02 -5.01091913e+01] [-7.07107571e-02 -7.21000411e-04 9.97496601e-01 -1.64287064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:-50.12, Z:-16.43 [[ 9.56100769e-01 2.84569586e-01 6.99390471e-02 2.37759222e+02] [-2.84080409e-01 9.58648768e-01 -1.70546468e-02 -5.01167350e+01] [-7.19002151e-02 -3.56235213e-03 9.97405469e-01 -1.64314138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-50.12, Z:-16.43 [[ 9.56471454e-01 2.83330422e-01 6.99015754e-02 2.37786246e+02] [-2.82687837e-01 9.59021233e-01 -1.91275260e-02 -5.01189635e+01] [-7.24565050e-02 -1.46539259e-03 9.97370497e-01 -1.64338662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.81, Y:-50.12, Z:-16.44 [[ 9.56935490e-01 2.82381656e-01 6.73429126e-02 2.37814744e+02] [-2.81444341e-01 9.59296581e-01 -2.32196541e-02 -5.01224700e+01] [-7.11586302e-02 3.26642939e-03 9.97459663e-01 -1.64360999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.84, Y:-50.14, Z:-16.44 [[ 9.57095708e-01 2.79788295e-01 7.54076701e-02 2.37837328e+02] [-2.80151174e-01 9.59937527e-01 -5.93835521e-03 -5.01401645e+01] [-7.40481346e-02 -1.54419730e-02 9.97135106e-01 -1.64420657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:-50.13, Z:-16.44 [[ 9.58020409e-01 2.79317577e-01 6.46419922e-02 2.37870318e+02] [-2.77876831e-01 9.60133001e-01 -3.04809292e-02 -5.01339121e+01] [-7.05787692e-02 1.12388403e-02 9.97442894e-01 -1.64436956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:-50.15, Z:-16.45 [[ 9.58319583e-01 2.77630456e-01 6.74159188e-02 2.37894609e+02] [-2.76900883e-01 9.60687748e-01 -2.01234171e-02 -5.01459334e+01] [-7.03525206e-02 6.17137256e-04 9.97522001e-01 -1.64467999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:-50.15, Z:-16.45 [[ 9.58374659e-01 2.76886595e-01 6.96550490e-02 2.37921634e+02] [-2.76357175e-01 9.60898944e-01 -1.73185355e-02 -5.01525085e+01] [-7.17267333e-02 -2.65202699e-03 9.97420795e-01 -1.64493689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.95, Y:-50.15, Z:-16.45 [[ 9.58458616e-01 2.77294522e-01 6.68193824e-02 2.37951264e+02] [-2.76318670e-01 9.60775916e-01 -2.36142331e-02 -5.01546588e+01] [-7.07465508e-02 4.16982231e-03 9.97485608e-01 -1.64504679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:-50.16, Z:-16.45 [[ 9.58338621e-01 2.77142808e-01 6.91299569e-02 2.37977480e+02] [-2.76438717e-01 9.60828720e-01 -1.97435396e-02 -5.01626293e+01] [-7.18938280e-02 -1.89200147e-04 9.97412273e-01 -1.64525675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:-50.17, Z:-16.46 [[ 9.58073956e-01 2.77092223e-01 7.28985259e-02 2.38002551e+02] [-2.76843330e-01 9.60817414e-01 -1.36991613e-02 -5.01730980e+01] [-7.38381042e-02 -7.05666098e-03 9.97245275e-01 -1.64564929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:-50.17, Z:-16.46 [[ 9.58163237e-01 2.78208647e-01 6.72544412e-02 2.38032243e+02] [-2.77055202e-01 9.60499527e-01 -2.60973704e-02 -5.01742397e+01] [-7.18583731e-02 6.37234806e-03 9.97394489e-01 -1.64582478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:-50.18, Z:-16.46 [[ 9.58321452e-01 2.77119381e-01 6.94610967e-02 2.38056925e+02] [-2.76409762e-01 9.60835473e-01 -1.98201244e-02 -5.01844330e+01] [-7.22332263e-02 -2.05674782e-04 9.97387747e-01 -1.64609199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:-50.19, Z:-16.46 [[ 9.58340013e-01 2.75834915e-01 7.41587426e-02 2.38082260e+02] [-2.75578018e-01 9.61178529e-01 -1.38777538e-02 -5.01944937e+01] [-7.51077601e-02 -7.13691258e-03 9.97149883e-01 -1.64646630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264000000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.11, Y:-50.19, Z:-16.47 [[ 9.59005200e-01 2.74636066e-01 6.98860299e-02 2.38111909e+02] [-2.73639876e-01 9.61541711e-01 -2.36380331e-02 -5.01935977e+01] [-7.36901892e-02 3.54539216e-03 9.97274880e-01 -1.64671680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:-50.20, Z:-16.47 [[ 9.59268143e-01 2.72755714e-01 7.35455717e-02 2.38137888e+02] [-2.72211893e-01 9.62077936e-01 -1.75137294e-02 -5.02046413e+01] [-7.55335416e-02 -3.21961664e-03 9.97138064e-01 -1.64707628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:-50.21, Z:-16.47 [[ 9.59680302e-01 2.71612260e-01 7.23912796e-02 2.38164650e+02] [-2.70735043e-01 9.62405782e-01 -2.18551389e-02 -5.02091252e+01] [-7.56059097e-02 1.37509014e-03 9.97136829e-01 -1.64726912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:-50.22, Z:-16.48 [[ 9.59671828e-01 2.71194509e-01 7.40507943e-02 2.38191999e+02] [-2.70456274e-01 9.62524215e-01 -2.00135017e-02 -5.02169942e+01] [-7.67032344e-02 -8.21108152e-04 9.97053629e-01 -1.64758780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:-50.22, Z:-16.48 [[ 9.59702316e-01 2.72017681e-01 7.05538559e-02 2.38220242e+02] [-2.70839077e-01 9.62274801e-01 -2.59499712e-02 -5.02199372e+01] [-7.49510486e-02 5.79550623e-03 9.97170373e-01 -1.64773742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.25, Y:-50.23, Z:-16.48 [[ 9.59740754e-01 2.71663431e-01 7.13909366e-02 2.38246885e+02] [-2.70833642e-01 9.62391745e-01 -2.12430310e-02 -5.02302696e+01] [-7.44770027e-02 1.05273515e-03 9.97222176e-01 -1.64809586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-50.24, Z:-16.48 [[ 9.59666374e-01 2.70684171e-01 7.59640066e-02 2.38271844e+02] [-2.70529473e-01 9.62630333e-01 -1.25158586e-02 -5.02418417e+01] [-7.65131018e-02 -8.53945404e-03 9.97032007e-01 -1.64848104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-50.24, Z:-16.49 [[ 9.59726508e-01 2.72442149e-01 6.85587777e-02 2.38302832e+02] [-2.71074286e-01 9.62130440e-01 -2.87010244e-02 -5.02375912e+01] [-7.37818557e-02 8.96061224e-03 9.97234148e-01 -1.64853689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:-50.25, Z:-16.49 [[ 9.59808080e-01 2.71532009e-01 7.09846341e-02 2.38329040e+02] [-2.70780225e-01 9.62429396e-01 -2.01922617e-02 -5.02470319e+01] [-7.38005439e-02 1.59460699e-04 9.97273009e-01 -1.64885942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:-50.26, Z:-16.49 [[ 9.59728244e-01 2.69879437e-01 7.80178630e-02 2.38352841e+02] [-2.70063005e-01 9.62806108e-01 -8.38879509e-03 -5.02614046e+01] [-7.73800383e-02 -1.30187750e-02 9.96916667e-01 -1.64937049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-50.25, Z:-16.49 [[ 9.60344086e-01 2.70160841e-01 6.89373322e-02 2.38385492e+02] [-2.68558001e-01 9.62741037e-01 -3.17221574e-02 -5.02536191e+01] [-7.49388834e-02 1.19505141e-02 9.97116517e-01 -1.64941296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07264000000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.41, Y:-50.26, Z:-16.50 [[ 9.60776517e-01 2.68312082e-01 7.01221192e-02 2.38411238e+02] [-2.67312499e-01 9.63324622e-01 -2.34457127e-02 -5.02639017e+01] [-7.38411319e-02 3.78157123e-03 9.97262847e-01 -1.64966630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:-50.27, Z:-16.50 [[ 9.60955423e-01 2.66684731e-01 7.37829828e-02 2.38436083e+02] [-2.66131335e-01 9.63779455e-01 -1.74147869e-02 -5.02742240e+01] [-7.57547807e-02 -2.90112977e-03 9.97122258e-01 -1.64995883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:-50.28, Z:-16.50 [[ 9.61292080e-01 2.65614065e-01 7.32578079e-02 2.38463999e+02] [-2.64757916e-01 9.64078794e-01 -2.13383324e-02 -5.02787330e+01] [-7.62940603e-02 1.11678533e-03 9.97084735e-01 -1.65020358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.49, Y:-50.28, Z:-16.51 [[ 9.62180388e-01 2.62533693e-01 7.26977414e-02 2.38490831e+02] [-2.61644169e-01 9.64921090e-01 -2.16706832e-02 -5.02847512e+01] [-7.58368684e-02 1.83016624e-03 9.97118559e-01 -1.65052473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.52, Y:-50.29, Z:-16.51 [[ 9.62525347e-01 2.61128140e-01 7.31918773e-02 2.38516922e+02] [-2.60302597e-01 9.65303690e-01 -2.07688309e-02 -5.02929993e+01] [-7.60757154e-02 9.38490452e-04 9.97101602e-01 -1.65072201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:-50.30, Z:-16.51 [[ 9.62965072e-01 2.59586910e-01 7.28896830e-02 2.38544066e+02] [-2.58764130e-01 9.65719178e-01 -2.06783473e-02 -5.03004870e+01] [-7.57587931e-02 1.05129081e-03 9.97125619e-01 -1.65099946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.57, Y:-50.31, Z:-16.51 [[ 9.63797577e-01 2.56819634e-01 7.16791862e-02 2.38570699e+02] [-2.56016676e-01 9.66458550e-01 -2.03305752e-02 -5.03077750e+01] [-7.44962533e-02 1.24349218e-03 9.97220518e-01 -1.65127150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:-50.32, Z:-16.52 [[ 9.64078849e-01 2.55508877e-01 7.25753878e-02 2.38596017e+02] [-2.54837090e-01 9.66806502e-01 -1.85268788e-02 -5.03170254e+01] [-7.49001388e-02 -6.33528623e-04 9.97190838e-01 -1.65161601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:-50.33, Z:-16.52 [[ 9.64611921e-01 2.53759766e-01 7.16227831e-02 2.38622298e+02] [-2.52799868e-01 9.67261234e-01 -2.23143831e-02 -5.03252636e+01] [-7.49404342e-02 3.41848981e-03 9.97182152e-01 -1.65184180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.65, Y:-50.33, Z:-16.52 [[ 9.64664019e-01 2.53257790e-01 7.26899022e-02 2.38648251e+02] [-2.52423214e-01 9.67397629e-01 -2.05997389e-02 -5.03347375e+01] [-7.55370833e-02 1.52320819e-03 9.97141830e-01 -1.65205508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:-50.34, Z:-16.52 [[ 9.64647399e-01 2.53330580e-01 7.26568110e-02 2.38675716e+02] [-2.52497407e-01 9.67378588e-01 -2.05846088e-02 -5.03436500e+01] [-7.55013542e-02 1.51123299e-03 9.97144554e-01 -1.65227547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:-50.35, Z:-16.53 [[ 9.64597527e-01 2.53568416e-01 7.24891051e-02 2.38702919e+02] [-2.52740040e-01 9.67316314e-01 -2.05333935e-02 -5.03529003e+01] [-7.53265140e-02 1.48556119e-03 9.97157816e-01 -1.65259591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:-50.36, Z:-16.53 [[ 9.64510538e-01 2.53946938e-01 7.23213255e-02 2.38728920e+02] [-2.53123731e-01 9.67217066e-01 -2.04822898e-02 -5.03625705e+01] [-7.51518350e-02 1.44914058e-03 9.97171049e-01 -1.65283493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:-50.38, Z:-16.52 [[ 9.64497631e-01 2.52736732e-01 7.66058970e-02 2.38750900e+02] [-2.53624186e-01 9.67300919e-01 1.92483042e-03 -5.03841978e+01] [-7.36144792e-02 -2.12856027e-02 9.97059593e-01 -1.65224772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:-50.37, Z:-16.53 [[ 9.63975877e-01 2.57907867e-01 6.50695055e-02 2.38785525e+02] [-2.55599628e-01 9.65880975e-01 -4.17465343e-02 -5.03699005e+01] [-7.36161570e-02 2.36109107e-02 9.97007114e-01 -1.65322836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-50.39, Z:-16.54 [[ 9.63686459e-01 2.57352792e-01 7.12597315e-02 2.38806754e+02] [-2.56564197e-01 9.66316832e-01 -2.01641549e-02 -5.03916885e+01] [-7.40487795e-02 1.14922725e-03 9.97253958e-01 -1.65361000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:-50.41, Z:-16.54 [[ 9.62410760e-01 2.60646097e-01 7.63488186e-02 2.38829693e+02] [-2.60677597e-01 9.65376889e-01 -9.72894734e-03 -5.04100250e+01] [-7.62411972e-02 -1.05391830e-02 9.97033703e-01 -1.65401959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:-50.41, Z:-16.54 [[ 9.62388362e-01 2.61581240e-01 7.33750307e-02 2.38859587e+02] [-2.60762734e-01 9.65181147e-01 -2.06917820e-02 -5.04115070e+01] [-7.62327783e-02 7.80056573e-04 9.97089743e-01 -1.65426455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-50.42, Z:-16.54 [[ 9.61778329e-01 2.64645021e-01 7.03239587e-02 2.38887829e+02] [-2.63435056e-01 9.64323307e-01 -2.61252919e-02 -5.04154754e+01] [-7.47289609e-02 6.60094361e-03 9.97182035e-01 -1.65433916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:-50.42, Z:-16.55 [[ 9.61002523e-01 2.67696761e-01 6.93728664e-02 2.38914502e+02] [-2.66566715e-01 9.63485992e-01 -2.52374521e-02 -5.04224865e+01] [-7.35957692e-02 5.76075810e-03 9.97271516e-01 -1.65452653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:-50.45, Z:-16.55 [[ 9.58962809e-01 2.70815265e-01 8.39608474e-02 2.38935626e+02] [-2.71788754e-01 9.62356921e-01 1.71066443e-04 -5.04474010e+01] [-8.07539752e-02 -2.29836605e-02 9.96469040e-01 -1.65515593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:-50.43, Z:-16.55 [[ 9.58723221e-01 2.76258903e-01 6.73112537e-02 2.38971535e+02] [-2.73948716e-01 9.60843845e-01 -4.16077646e-02 -5.04316875e+01] [-7.61701192e-02 2.14504985e-02 9.96864078e-01 -1.65503383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:-50.45, Z:-16.55 [[ 9.58411258e-01 2.75791227e-01 7.33965966e-02 2.38994052e+02] [-2.75009715e-01 9.61217514e-01 -2.07496108e-02 -5.04520351e+01] [-7.62726548e-02 -2.98116548e-04 9.97086954e-01 -1.65528816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:-50.46, Z:-16.56 [[ 9.58145047e-01 2.76494237e-01 7.42226822e-02 2.39019582e+02] [-2.75697797e-01 9.61015506e-01 -2.09743242e-02 -5.04598607e+01] [-7.71284283e-02 -3.66585102e-04 9.97021099e-01 -1.65557378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:-50.47, Z:-16.56 [[ 9.58215205e-01 2.76286991e-01 7.40885912e-02 2.39045361e+02] [-2.75493328e-01 9.61075113e-01 -2.09297422e-02 -5.04684905e+01] [-7.69873167e-02 -3.55715391e-04 9.97032009e-01 -1.65576958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:-50.48, Z:-16.56 [[ 9.58549732e-01 2.74247105e-01 7.72718347e-02 2.39069884e+02] [-2.73943747e-01 9.61633261e-01 -1.47069431e-02 -5.04824642e+01] [-7.83405030e-02 -7.07079957e-03 9.96901585e-01 -1.65617001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.10, Y:-50.48, Z:-16.56 [[ 9.58883342e-01 2.74509998e-01 7.20208138e-02 2.39099761e+02] [-2.73228780e-01 9.61562476e-01 -2.72697327e-02 -5.04833713e+01] [-7.67383263e-02 6.47033336e-03 9.97030272e-01 -1.65636682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264000000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:239.13, Y:-50.50, Z:-16.57 [[ 9.59275820e-01 2.72807427e-01 7.32530541e-02 2.39125684e+02] [-2.72022596e-01 9.62068657e-01 -2.06786661e-02 -5.04954647e+01] [-7.61157610e-02 -8.99415415e-05 9.97098983e-01 -1.65662901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:-50.51, Z:-16.57 [[ 9.59474294e-01 2.71785319e-01 7.44433923e-02 2.39152025e+02] [-2.70971968e-01 9.62357906e-01 -2.10107661e-02 -5.05055467e+01] [-7.73516049e-02 -1.27825352e-05 9.97003876e-01 -1.65684403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:-50.53, Z:-16.56 [[ 9.60299860e-01 2.67923715e-01 7.77242672e-02 2.39176218e+02] [-2.68690326e-01 9.63226416e-01 -6.16502294e-04 -5.05284298e+01] [-7.50312429e-02 -2.02917317e-02 9.96974703e-01 -1.65604233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:-50.52, Z:-16.57 [[ 9.60062074e-01 2.70776162e-01 7.04349608e-02 2.39209633e+02] [-2.68430513e-01 9.62423914e-01 -4.10520373e-02 -5.05151756e+01] [-7.89042037e-02 2.05056115e-02 9.96671283e-01 -1.65718463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:-50.54, Z:-16.57 [[ 9.60260074e-01 2.68520684e-01 7.61395606e-02 2.39232352e+02] [-2.67660506e-01 9.63273888e-01 -2.14772140e-02 -5.05364509e+01] [-7.91103267e-02 2.44157782e-04 9.96865837e-01 -1.65742920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.26, Y:-50.55, Z:-16.58 [[ 9.60325879e-01 2.68450112e-01 7.55562338e-02 2.39259144e+02] [-2.67603255e-01 9.63293558e-01 -2.13077284e-02 -5.05454094e+01] [-7.85028953e-02 2.43268853e-04 9.96913856e-01 -1.65769158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.29, Y:-50.55, Z:-16.58 [[ 9.60298179e-01 2.68660449e-01 7.51596370e-02 2.39286601e+02] [-2.67823415e-01 9.63234922e-01 -2.11920862e-02 -5.05547777e+01] [-7.80898625e-02 2.21211147e-04 9.96946300e-01 -1.65801170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:-50.57, Z:-16.58 [[ 9.59952165e-01 2.70352092e-01 7.34954874e-02 2.39313685e+02] [-2.69557020e-01 9.62761518e-01 -2.07189026e-02 -5.05665622e+01] [-7.63600257e-02 7.79308297e-05 9.97080308e-01 -1.65830817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:-50.58, Z:-16.59 [[ 9.59437939e-01 2.72257694e-01 7.31750544e-02 2.39340413e+02] [-2.71475189e-01 9.62224372e-01 -2.06271492e-02 -5.05752540e+01] [-7.60267208e-02 -7.47422458e-05 9.97105778e-01 -1.65858354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.37, Y:-50.58, Z:-16.59 [[ 9.58878300e-01 2.74399190e-01 7.25085518e-02 2.39367816e+02] [-2.73637373e-01 9.61615840e-01 -2.04343956e-02 -5.05824576e+01] [-7.53325536e-02 -2.46951111e-04 9.97158435e-01 -1.65894192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:-50.59, Z:-16.59 [[ 9.57670675e-01 2.78622777e-01 7.23617802e-02 2.39394059e+02] [-2.77876336e-01 9.60400443e-01 -2.03894854e-02 -5.05899992e+01] [-7.51772608e-02 -5.81214166e-04 9.97170016e-01 -1.65911721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21264000000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.42, Y:-50.60, Z:-16.60 [[ 9.57415117e-01 2.79722047e-01 7.14973463e-02 2.39421457e+02] [-2.78996742e-01 9.60080796e-01 -2.01415550e-02 -5.05969391e+01] [-7.42772662e-02 -6.63697436e-04 9.97237408e-01 -1.65951234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-50.61, Z:-16.60 [[ 9.57105193e-01 2.80756894e-01 7.15906102e-02 2.39447836e+02] [-2.80032985e-01 9.59778622e-01 -2.01624217e-02 -5.06051852e+01] [-7.43718761e-02 -7.50173785e-04 9.97230295e-01 -1.65965154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27264000000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:239.47, Y:-50.61, Z:-16.60 [[ 9.56777728e-01 2.81856863e-01 7.16455685e-02 2.39474503e+02] [-2.81135326e-01 9.59456096e-01 -2.01724537e-02 -5.06126193e+01] [-7.44265220e-02 -8.41545833e-04 9.97226145e-01 -1.65999865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:-50.63, Z:-16.59 [[ 9.56838121e-01 2.80654600e-01 7.54573081e-02 2.39498439e+02] [-2.81390501e-01 9.59592908e-01 -9.14490809e-04 -5.06316203e+01] [-7.26649538e-02 -2.03579501e-02 9.97148614e-01 -1.65929675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:-50.62, Z:-16.60 [[ 9.56307034e-01 2.84655630e-01 6.66935430e-02 2.39532187e+02] [-2.82582939e-01 9.58454396e-01 -3.88851300e-02 -5.06181626e+01] [-7.49915906e-02 1.83396660e-02 9.97015505e-01 -1.66034418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:-50.64, Z:-16.61 [[ 9.56238079e-01 2.83551433e-01 7.21617729e-02 2.39555003e+02] [-2.82825634e-01 9.58956510e-01 -2.02995569e-02 -5.06351606e+01] [-7.49559704e-02 -9.97989847e-04 9.97186345e-01 -1.66058032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:-50.64, Z:-16.61 [[ 9.56073498e-01 2.84152634e-01 7.19774106e-02 2.39581866e+02] [-2.83432708e-01 9.58778484e-01 -2.02415047e-02 -5.06412992e+01] [-7.47620695e-02 -1.04838619e-03 9.97200849e-01 -1.66089536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:-50.65, Z:-16.61 [[ 9.56205970e-01 2.83829618e-01 7.14904984e-02 2.39608372e+02] [-2.83118918e-01 9.58874186e-01 -2.00990992e-02 -5.06485817e+01] [-7.42551131e-02 -1.02143396e-03 9.97238755e-01 -1.66117775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:-50.66, Z:-16.61 [[ 9.56296082e-01 2.83477906e-01 7.16804077e-02 2.39634561e+02] [-2.82762867e-01 9.58978244e-01 -2.01466919e-02 -5.06558408e+01] [-7.44510935e-02 -1.00235507e-03 9.97224162e-01 -1.66147324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:-50.66, Z:-16.62 [[ 9.56866275e-01 2.81602598e-01 7.14626323e-02 2.39661211e+02] [-2.80887009e-01 9.59530740e-01 -2.00810344e-02 -5.06638349e+01] [-7.42254639e-02 -8.58060412e-04 9.97241116e-01 -1.66173440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:-50.67, Z:-16.62 [[ 9.57316181e-01 2.80095426e-01 7.13602304e-02 2.39688473e+02] [-2.79378136e-01 9.59971873e-01 -2.00464692e-02 -5.06720412e+01] [-7.41187384e-02 -7.45678777e-04 9.97249145e-01 -1.66200824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:-50.68, Z:-16.62 [[ 9.58198623e-01 2.76706555e-01 7.27246966e-02 2.39714758e+02] [-2.75952065e-01 9.60954336e-01 -2.04260031e-02 -5.06805307e+01] [-7.55371215e-02 -4.96362168e-04 9.97142867e-01 -1.66222062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:-50.69, Z:-16.62 [[ 9.58632206e-01 2.75059883e-01 7.32554106e-02 2.39742374e+02] [-2.74289906e-01 9.61427023e-01 -2.05700329e-02 -5.06885135e+01] [-7.60877222e-02 -3.74123730e-04 9.97101057e-01 -1.66240030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:-50.70, Z:-16.63 [[ 9.58885460e-01 2.74022439e-01 7.38266697e-02 2.39768643e+02] [-2.73237610e-01 9.61723253e-01 -2.07266571e-02 -5.06961264e+01] [-7.66803941e-02 -2.97732625e-04 9.97055680e-01 -1.66266816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:-50.71, Z:-16.63 [[ 9.59312978e-01 2.72656697e-01 7.33275980e-02 2.39794908e+02] [-2.71878839e-01 9.62111370e-01 -2.05817525e-02 -5.07054489e+01] [-7.61610684e-02 -1.91879887e-04 9.97095509e-01 -1.66294841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:-50.71, Z:-16.63 [[ 9.59475917e-01 2.72205734e-01 7.28697700e-02 2.39822322e+02] [-2.71436641e-01 9.62239062e-01 -2.04483996e-02 -5.07144018e+01] [-7.56843108e-02 -1.59778636e-04 9.97131817e-01 -1.66320652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:-50.72, Z:-16.63 [[ 9.59516300e-01 2.72125885e-01 7.26358930e-02 2.39849228e+02] [-2.71361769e-01 9.62261647e-01 -2.03792100e-02 -5.07224530e+01] [-7.54404446e-02 -1.56420200e-04 9.97150297e-01 -1.66342994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:-50.73, Z:-16.64 [[ 9.59444987e-01 2.72367874e-01 7.26708868e-02 2.39876549e+02] [-2.71604079e-01 9.62193176e-01 -2.03842013e-02 -5.07301058e+01] [-7.54754330e-02 -1.80189506e-04 9.97147645e-01 -1.66372356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.90, Y:-50.74, Z:-16.64 [[ 9.59382303e-01 2.72819512e-01 7.17991050e-02 2.39903693e+02] [-2.72075485e-01 9.62065209e-01 -2.01361121e-02 -5.07384556e+01] [-7.45689453e-02 -2.16546806e-04 9.97215837e-01 -1.66396049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:-50.75, Z:-16.64 [[ 9.59199411e-01 2.73514533e-01 7.15981175e-02 2.39930220e+02] [-2.72776879e-01 9.61867832e-01 -2.00760669e-02 -5.07459211e+01] [-7.43590221e-02 -2.73359519e-04 9.97231498e-01 -1.66419899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:-50.75, Z:-16.64 [[ 9.58997278e-01 2.74255963e-01 7.14694869e-02 2.39958393e+02] [-2.73523288e-01 9.61656672e-01 -2.00363549e-02 -5.07530901e+01] [-7.42241988e-02 -3.33759235e-04 9.97241524e-01 -1.66445480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:-50.76, Z:-16.65 [[ 9.58226228e-01 2.76829286e-01 7.18890932e-02 2.39985747e+02] [-2.76095463e-01 9.60918964e-01 -2.01504400e-02 -5.07580168e+01] [-7.46578249e-02 -5.39572373e-04 9.97209064e-01 -1.66468724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:-50.77, Z:-16.65 [[ 9.57840687e-01 2.77102954e-01 7.58628483e-02 2.40011269e+02] [-2.77292566e-01 9.60750248e-01 -8.23366303e-03 -5.07719927e+01] [-7.51668227e-02 -1.31496665e-02 9.97084267e-01 -1.66458004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:-50.76, Z:-16.65 [[ 9.56765139e-01 2.82573689e-01 6.89389466e-02 2.40042009e+02] [-2.80952381e-01 9.59175311e-01 -3.23802768e-02 -5.07643838e+01] [-7.52743499e-02 1.16117588e-02 9.97095251e-01 -1.66512495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.07, Y:-50.78, Z:-16.65 [[ 9.56489355e-01 2.82745679e-01 7.19930158e-02 2.40066672e+02] [-2.82027422e-01 9.59194376e-01 -2.01663697e-02 -5.07771231e+01] [-7.47572497e-02 -1.01508674e-03 9.97201245e-01 -1.66545720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:-50.79, Z:-16.65 [[ 9.56365396e-01 2.82469400e-01 7.46744051e-02 2.40092701e+02] [-2.82613347e-01 9.59193061e-01 -8.85260323e-03 -5.07895770e+01] [-7.41277607e-02 -1.26376601e-02 9.97168674e-01 -1.66542796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:-50.78, Z:-16.66 [[ 9.56112806e-01 2.84920084e-01 6.83289757e-02 2.40123904e+02] [-2.83402409e-01 9.58494472e-01 -3.11676321e-02 -5.07831393e+01] [-7.43732299e-02 1.04351758e-02 9.97175877e-01 -1.66598525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:-50.80, Z:-16.66 [[ 9.56252566e-01 2.83441520e-01 7.24012109e-02 2.40148747e+02] [-2.82718029e-01 9.58988906e-01 -2.02680689e-02 -5.07955601e+01] [-7.51767703e-02 -1.08773478e-03 9.97169630e-01 -1.66626780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:-50.80, Z:-16.66 [[ 9.56493866e-01 2.82617704e-01 7.24342247e-02 2.40176410e+02] [-2.81891546e-01 9.59232076e-01 -2.02726393e-02 -5.08011735e+01] [-7.52106385e-02 -1.02794039e-03 9.97167139e-01 -1.66642344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:-50.81, Z:-16.67 [[ 9.57094268e-01 2.80335672e-01 7.33653338e-02 2.40204357e+02] [-2.79584421e-01 9.59901642e-01 -2.05277538e-02 -5.08054757e+01] [-7.61781661e-02 -8.64808817e-04 9.97093847e-01 -1.66665509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.23, Y:-50.81, Z:-16.67 [[ 9.57521469e-01 2.78963720e-01 7.30197202e-02 2.40231699e+02] [-2.78215983e-01 9.60301343e-01 -2.04254194e-02 -5.08118987e+01] [-7.58188863e-02 -7.57475664e-04 9.97121318e-01 -1.66690443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:-50.82, Z:-16.67 [[ 9.57970413e-01 2.77531778e-01 7.25865008e-02 2.40259051e+02] [-2.76789233e-01 9.60716241e-01 -2.02984038e-02 -5.08183550e+01] [-7.53684823e-02 -6.45891590e-04 9.97155542e-01 -1.66716474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:-50.82, Z:-16.67 [[ 9.58706324e-01 2.74915675e-01 7.28255109e-02 2.40286127e+02] [-2.74161033e-01 9.61468238e-01 -2.03606302e-02 -5.08235515e+01] [-7.56168720e-02 -4.46052379e-04 9.97136846e-01 -1.66745633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:-50.83, Z:-16.68 [[ 9.59064689e-01 2.73703802e-01 7.26715243e-02 2.40314116e+02] [-2.72949320e-01 9.61813965e-01 -2.03117180e-02 -5.08304753e+01] [-7.54558813e-02 -3.55391606e-04 9.97149078e-01 -1.66770775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.34, Y:-50.84, Z:-16.68 [[ 9.59529044e-01 2.71450503e-01 7.49575775e-02 2.40340552e+02] [-2.71206049e-01 9.62424993e-01 -1.36166050e-02 -5.08401962e+01] [-7.58372803e-02 -7.26342048e-03 9.97093752e-01 -1.66786882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:-50.84, Z:-16.68 [[ 9.60250599e-01 2.69162582e-01 7.39614174e-02 2.40369322e+02] [-2.68388834e-01 9.63094717e-01 -2.03960666e-02 -5.08423546e+01] [-7.67217083e-02 -2.65083465e-04 9.97052511e-01 -1.66816588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:-50.85, Z:-16.68 [[ 9.60687104e-01 2.68121805e-01 7.20484931e-02 2.40397314e+02] [-2.66804111e-01 9.63358074e-01 -2.75097652e-02 -5.08452375e+01] [-7.67844655e-02 7.20544257e-03 9.97021679e-01 -1.66847137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:-50.86, Z:-16.69 [[ 9.61700894e-01 2.63570033e-01 7.52477744e-02 2.40424491e+02] [-2.62731351e-01 9.64640163e-01 -2.10141107e-02 -5.08563505e+01] [-7.81257152e-02 4.39339632e-04 9.96943418e-01 -1.66873407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:-50.86, Z:-16.69 [[ 9.62282874e-01 2.61370306e-01 7.54800136e-02 2.40450954e+02] [-2.60519973e-01 9.65238407e-01 -2.10751124e-02 -5.08639262e+01] [-7.83646167e-02 6.16168630e-04 9.96924574e-01 -1.66896634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.48, Y:-50.87, Z:-16.69 [[ 9.62876950e-01 2.59242601e-01 7.52412962e-02 2.40477492e+02] [-2.58391542e-01 9.65811919e-01 -2.10035391e-02 -5.08709086e+01] [-7.81139528e-02 7.82109128e-04 9.96944130e-01 -1.66929589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:-50.88, Z:-16.70 [[ 9.63739264e-01 2.55914609e-01 7.55932751e-02 2.40504440e+02] [-2.55045716e-01 9.66698819e-01 -2.10968449e-02 -5.08795971e+01] [-7.84749206e-02 1.05211680e-03 9.96915533e-01 -1.66955384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:-50.89, Z:-16.70 [[ 9.64061546e-01 2.54907137e-01 7.48844924e-02 2.40532364e+02] [-2.54051743e-01 9.66964890e-01 -2.08953144e-02 -5.08876619e+01] [-7.77370397e-02 1.11983322e-03 9.96973269e-01 -1.66981464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.56, Y:-50.90, Z:-16.70 [[ 9.64237602e-01 2.54519855e-01 7.39289499e-02 2.40561254e+02] [-2.53685388e-01 9.67066886e-01 -2.06243072e-02 -5.08954436e+01] [-7.67435350e-02 1.13203819e-03 9.97050224e-01 -1.67015042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.59, Y:-50.90, Z:-16.70 [[ 9.64240712e-01 2.54508173e-01 7.39286161e-02 2.40590205e+02] [-2.53673580e-01 9.67069958e-01 -2.06255035e-02 -5.09034798e+01] [-7.67435029e-02 1.13421349e-03 9.97050224e-01 -1.67041959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:-50.91, Z:-16.71 [[ 9.63922192e-01 2.55587572e-01 7.43572488e-02 2.40616948e+02] [-2.54746515e-01 9.66785334e-01 -2.07444026e-02 -5.09125202e+01] [-7.71895091e-02 1.05374004e-03 9.97015882e-01 -1.67057873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:-50.92, Z:-16.71 [[ 9.63681069e-01 2.56576869e-01 7.40750069e-02 2.40646377e+02] [-2.55745373e-01 9.66523344e-01 -2.06622811e-02 -5.09214432e+01] [-7.68966868e-02 9.67508897e-04 9.97038597e-01 -1.67085025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:-50.93, Z:-16.71 [[ 9.63407747e-01 2.57659786e-01 7.38711537e-02 2.40674672e+02] [-2.56836020e-01 9.66235304e-01 -2.06057367e-02 -5.09306986e+01] [-7.66861863e-02 8.78953217e-04 9.97054891e-01 -1.67116303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:-50.94, Z:-16.71 [[ 9.63143192e-01 2.58739529e-01 7.35462324e-02 2.40703592e+02] [-2.57926320e-01 9.65946808e-01 -2.05128503e-02 -5.09394852e+01] [-7.63492337e-02 7.87302986e-04 9.97080827e-01 -1.67141482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65264000000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:240.73, Y:-50.95, Z:-16.72 [[ 9.62662008e-01 2.60260899e-01 7.44722943e-02 2.40731517e+02] [-2.59431557e-01 9.65538093e-01 -2.07715954e-02 -5.09459273e+01] [-7.73118711e-02 6.75562449e-04 9.97006729e-01 -1.67180184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.76, Y:-50.96, Z:-16.72 [[ 9.62415865e-01 2.60807754e-01 7.57299054e-02 2.40761331e+02] [-2.60181705e-01 9.65388264e-01 -1.81928714e-02 -5.09571897e+01] [-7.78536039e-02 -2.19442787e-03 9.96962387e-01 -1.67192818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.79, Y:-50.97, Z:-16.72 [[ 9.62382497e-01 2.61077066e-01 7.52242922e-02 2.40792282e+02] [-2.60266431e-01 9.65317939e-01 -2.05587496e-02 -5.09662542e+01] [-7.79827768e-02 2.07022733e-04 9.96954685e-01 -1.67229504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.82, Y:-50.98, Z:-16.73 [[ 9.62156947e-01 2.62166276e-01 7.43158986e-02 2.40822084e+02] [-2.61087014e-01 9.65015455e-01 -2.40570784e-02 -5.09759876e+01] [-7.80229453e-02 3.74376906e-03 9.96944534e-01 -1.67257084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.85, Y:-50.99, Z:-16.73 [[ 9.61959835e-01 2.62636273e-01 7.52028158e-02 2.40850973e+02] [-2.61795579e-01 9.64894772e-01 -2.10036644e-02 -5.09860895e+01] [-7.80791280e-02 5.16916796e-04 9.96947031e-01 -1.67281616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.88, Y:-50.99, Z:-16.73 [[ 9.61283117e-01 2.65292931e-01 7.45280532e-02 2.40878625e+02] [-2.64475233e-01 9.64167813e-01 -2.08153585e-02 -5.09944871e+01] [-7.73797175e-02 2.98628449e-04 9.97001650e-01 -1.67318577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:-51.00, Z:-16.73 [[ 9.60768446e-01 2.67099716e-01 7.47110079e-02 2.40904695e+02] [-2.66283479e-01 9.63668884e-01 -2.08660117e-02 -5.10040595e+01] [-7.75699794e-02 1.53098589e-04 9.96986898e-01 -1.67335250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:-51.01, Z:-16.74 [[ 9.60311237e-01 2.68771336e-01 7.45942127e-02 2.40931937e+02] [-2.67963058e-01 9.63204012e-01 -2.08286069e-02 -5.10119982e+01] [-7.74475774e-02 1.34519692e-05 9.96996426e-01 -1.67361260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:-51.02, Z:-16.74 [[ 9.59479880e-01 2.71608125e-01 7.50159041e-02 2.40959480e+02] [-2.70799614e-01 9.62407906e-01 -2.09425715e-02 -5.10181486e+01] [-7.78840717e-02 -2.20301892e-04 9.96962398e-01 -1.67384966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:-51.03, Z:-16.74 [[ 9.59120799e-01 2.72871592e-01 7.50225703e-02 2.40987356e+02] [-2.72067184e-01 9.62050408e-01 -2.09394499e-02 -5.10254541e+01] [-7.78892754e-02 -3.27717525e-04 9.96961962e-01 -1.67413466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.02, Y:-51.03, Z:-16.74 [[ 9.58735470e-01 2.74187787e-01 7.51488864e-02 2.41015849e+02] [-2.73385038e-01 9.61676070e-01 -2.09703831e-02 -5.10335579e+01] [-7.80187087e-02 -4.39530992e-04 9.96951798e-01 -1.67438232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:-51.04, Z:-16.75 [[ 9.58039113e-01 2.76789332e-01 7.44897604e-02 2.41043695e+02] [-2.76008614e-01 9.60930407e-01 -2.07845746e-02 -5.10411334e+01] [-7.73324243e-02 -6.47380069e-04 9.97005154e-01 -1.67468900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:-51.05, Z:-16.75 [[ 9.57769203e-01 2.77843518e-01 7.40346807e-02 2.41070901e+02] [-2.77075677e-01 9.60626070e-01 -2.06548639e-02 -5.10483448e+01] [-7.68584644e-02 -7.30616727e-04 9.97041746e-01 -1.67496840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:-51.06, Z:-16.75 [[ 9.57465005e-01 2.78783149e-01 7.44360197e-02 2.41098901e+02] [-2.78010176e-01 9.60353732e-01 -2.07617599e-02 -5.10555706e+01] [-7.72729382e-02 -8.15312430e-04 9.97009643e-01 -1.67523324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07264000000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:241.13, Y:-51.06, Z:-16.76 [[ 9.56989243e-01 2.80046078e-01 7.58009452e-02 2.41127594e+02] [-2.79248733e-01 9.59986101e-01 -2.11383817e-02 -5.10603428e+01] [-7.86875748e-02 -9.38114049e-04 9.96898884e-01 -1.67557873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:-51.07, Z:-16.76 [[ 9.56887777e-01 2.80227453e-01 7.64091367e-02 2.41155903e+02] [-2.79418146e-01 9.59933146e-01 -2.13038906e-02 -5.10677679e+01] [-7.93175979e-02 -9.64666825e-04 9.96848929e-01 -1.67568642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:-51.07, Z:-16.76 [[ 9.56902631e-01 2.79972833e-01 7.71528800e-02 2.41182927e+02] [-2.79147168e-01 9.60007447e-01 -2.15072264e-02 -5.10725886e+01] [-8.00887784e-02 -9.56686424e-04 9.96787275e-01 -1.67592667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:-51.08, Z:-16.76 [[ 9.56969545e-01 2.79613799e-01 7.76235406e-02 2.41211003e+02] [-2.78777262e-01 9.60112100e-01 -2.16331582e-02 -5.10792829e+01] [-8.05762301e-02 -9.37404550e-04 9.96748008e-01 -1.67619003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.24, Y:-51.09, Z:-16.77 [[ 9.57115359e-01 2.79061433e-01 7.78132784e-02 2.41237798e+02] [-2.78219299e-01 9.60272832e-01 -2.16820108e-02 -5.10854088e+01] [-8.07725903e-02 -8.96970211e-04 9.96732153e-01 -1.67653386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:-51.09, Z:-16.77 [[ 9.57231500e-01 2.78580010e-01 7.81091107e-02 2.41265438e+02] [-2.77730279e-01 9.60412635e-01 -2.17591825e-02 -5.10928497e+01] [-8.10786501e-02 -8.64690148e-04 9.96707332e-01 -1.67666764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:-51.10, Z:-16.77 [[ 9.57484261e-01 2.77642336e-01 7.83493647e-02 2.41292187e+02] [-2.76784560e-01 9.60684187e-01 -2.18220275e-02 -5.10991889e+01] [-8.13277143e-02 -7.91646577e-04 9.96687100e-01 -1.67696212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:-51.11, Z:-16.77 [[ 9.57588732e-01 2.77199317e-01 7.86406995e-02 2.41318679e+02] [-2.76334069e-01 9.60812135e-01 -2.18980297e-02 -5.11064696e+01] [-8.16290573e-02 -7.61797969e-04 9.96662489e-01 -1.67725405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:-51.11, Z:-16.78 [[ 9.57751863e-01 2.76700527e-01 7.84103734e-02 2.41345486e+02] [-2.75839164e-01 9.60955928e-01 -2.18279597e-02 -5.11130891e+01] [-8.13887211e-02 -7.22882729e-04 9.96682173e-01 -1.67751815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:-51.12, Z:-16.78 [[ 9.58015481e-01 2.75808077e-01 7.83341775e-02 2.41372927e+02] [-2.74945906e-01 9.61212505e-01 -2.18006721e-02 -5.11177707e+01] [-8.13085924e-02 -6.52280099e-04 9.96688762e-01 -1.67775176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:-51.12, Z:-16.78 [[ 9.58184958e-01 2.75152537e-01 7.85663223e-02 2.41401237e+02] [-2.74283454e-01 9.61400394e-01 -2.18602193e-02 -5.11247118e+01] [-8.15485881e-02 -6.03308945e-04 9.96669185e-01 -1.67808914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264000000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:241.43, Y:-51.13, Z:-16.78 [[ 9.58633505e-01 2.73887093e-01 7.75091189e-02 2.41428268e+02] [-2.73037463e-01 9.61761726e-01 -2.15621475e-02 -5.11306389e+01] [-8.04508979e-02 -4.92696166e-04 9.96758451e-01 -1.67848187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:-51.14, Z:-16.79 [[ 9.58713288e-01 2.73555918e-01 7.76916457e-02 2.41455791e+02] [-2.72701601e-01 9.61855986e-01 -2.16078372e-02 -5.11368893e+01] [-8.06391262e-02 -4.70915518e-04 9.96743252e-01 -1.67863905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:-51.14, Z:-16.79 [[ 9.58655076e-01 2.73810557e-01 7.75127284e-02 2.41483421e+02] [-2.72961404e-01 9.61783517e-01 -2.15531726e-02 -5.11426365e+01] [-8.04519507e-02 -4.95924819e-04 9.96758365e-01 -1.67893982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:-51.15, Z:-16.79 [[ 9.58347243e-01 2.75210027e-01 7.63544609e-02 2.41510582e+02] [-2.74391016e-01 9.61383934e-01 -2.12250237e-02 -5.11502467e+01] [-7.92472914e-02 -6.10035174e-04 9.96854801e-01 -1.67925522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:-51.16, Z:-16.80 [[ 9.58162199e-01 2.75857790e-01 7.63392487e-02 2.41537710e+02] [-2.75041462e-01 9.61198229e-01 -2.12169644e-02 -5.11578096e+01] [-7.92300155e-02 -6.67165316e-04 9.96856138e-01 -1.67952760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.56, Y:-51.16, Z:-16.80 [[ 9.57683682e-01 2.76904121e-01 7.85243426e-02 2.41564270e+02] [-2.76339853e-01 9.60887988e-01 -1.81813183e-02 -5.11649516e+01] [-8.04875795e-02 -4.28745346e-03 9.96746391e-01 -1.67986050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:-51.17, Z:-16.80 [[ 9.57668223e-01 2.77709145e-01 7.58235136e-02 2.41594129e+02] [-2.76630713e-01 9.60661767e-01 -2.45849206e-02 -5.11668404e+01] [-7.96682079e-02 2.56908459e-03 9.96818126e-01 -1.68000267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.62, Y:-51.17, Z:-16.80 [[ 9.57522547e-01 2.77777649e-01 7.73960623e-02 2.41621251e+02] [-2.76945892e-01 9.60645020e-01 -2.14969530e-02 -5.11748843e+01] [-8.03215148e-02 -8.50704345e-04 9.96768644e-01 -1.68029092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:-51.18, Z:-16.81 [[ 9.57413892e-01 2.77707573e-01 7.89755923e-02 2.41647814e+02] [-2.76841732e-01 9.60665264e-01 -2.19295528e-02 -5.11793743e+01] [-8.19591112e-02 -8.68081269e-04 9.96635315e-01 -1.68052079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:-51.19, Z:-16.81 [[ 9.57465915e-01 2.77492957e-01 7.90991803e-02 2.41674573e+02] [-2.76624257e-01 9.60727288e-01 -2.19567261e-02 -5.11859063e+01] [-8.20855778e-02 -8.57935187e-04 9.96624915e-01 -1.68078467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:-51.19, Z:-16.81 [[ 9.57630730e-01 2.76948216e-01 7.90131094e-02 2.41700442e+02] [-2.76080054e-01 9.60884499e-01 -2.19267843e-02 -5.11923692e+01] [-8.19950558e-02 -8.16181077e-04 9.96632402e-01 -1.68107067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:-51.20, Z:-16.81 [[ 9.57756674e-01 2.76516835e-01 7.89974224e-02 2.41727385e+02] [-2.75648144e-01 9.61008752e-01 -2.19152646e-02 -5.11994722e+01] [-8.19771539e-02 -7.86001902e-04 9.96633899e-01 -1.68134552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:-51.21, Z:-16.82 [[ 9.57792837e-01 2.76284991e-01 7.93692996e-02 2.41753974e+02] [-2.75407820e-01 9.61075440e-01 -2.20120631e-02 -5.12059830e+01] [-8.23614872e-02 -7.75929393e-04 9.96602219e-01 -1.68161930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:-51.22, Z:-16.82 [[ 9.57500567e-01 2.76411926e-01 8.23960677e-02 2.41778910e+02] [-2.75941349e-01 9.61019267e-01 -1.72725276e-02 -5.12150586e+01] [-8.39585412e-02 -6.19802716e-03 9.96449973e-01 -1.68197412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:-51.21, Z:-16.82 [[ 9.57685106e-01 2.77026051e-01 7.80756331e-02 2.41807896e+02] [-2.75734833e-01 9.60852324e-01 -2.70760770e-02 -5.12149910e+01] [-8.25199322e-02 4.40218404e-03 9.96579692e-01 -1.68208266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:-51.22, Z:-16.82 [[ 9.57671764e-01 2.76549432e-01 7.99074711e-02 2.41834206e+02] [-2.75662698e-01 9.60999343e-01 -2.21436191e-02 -5.12241861e+01] [-8.29148326e-02 -8.21190260e-04 9.96556299e-01 -1.68238176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.86, Y:-51.23, Z:-16.83 [[ 9.57771576e-01 2.76404925e-01 7.92081146e-02 2.41860974e+02] [-2.75533671e-01 9.61040928e-01 -2.19438069e-02 -5.12313472e+01] [-8.21876162e-02 -8.07348042e-04 9.96616548e-01 -1.68266708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.89, Y:-51.24, Z:-16.83 [[ 9.57901296e-01 2.76186920e-01 7.83957388e-02 2.41887484e+02] [-2.75333250e-01 9.61103619e-01 -2.17125476e-02 -5.12379399e+01] [-8.13431499e-02 -7.86476004e-04 9.96685845e-01 -1.68294704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:-51.24, Z:-16.83 [[ 9.57940883e-01 2.76097358e-01 7.82273190e-02 2.41914302e+02] [-2.75247468e-01 9.61129355e-01 -2.16608881e-02 -5.12446914e+01] [-8.11670866e-02 -7.82021181e-04 9.96700202e-01 -1.68329332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:-51.25, Z:-16.84 [[ 9.58098444e-01 2.75479562e-01 7.84753673e-02 2.41940327e+02] [-2.74622684e-01 9.61306646e-01 -2.17235922e-02 -5.12515278e+01] [-8.14232977e-02 -7.37776128e-04 9.96679338e-01 -1.68356454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:-51.26, Z:-16.84 [[ 9.58471472e-01 2.73927297e-01 7.93490595e-02 2.41967406e+02] [-2.73046491e-01 9.61750202e-01 -2.19581858e-02 -5.12586368e+01] [-8.23289205e-02 -6.19687568e-04 9.96605019e-01 -1.68381809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.99, Y:-51.27, Z:-16.84 [[ 9.58700064e-01 2.73324681e-01 7.86626073e-02 2.41994360e+02] [-2.72457569e-01 9.61921668e-01 -2.17618563e-02 -5.12652812e+01] [-8.16153188e-02 -5.69129653e-04 9.96663743e-01 -1.68410275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:-51.27, Z:-16.84 [[ 9.59081926e-01 2.71980264e-01 7.86676202e-02 2.42021513e+02] [-2.71108947e-01 9.62302720e-01 -2.17580844e-02 -5.12729463e+01] [-8.16198345e-02 -4.59710216e-04 9.96663429e-01 -1.68434794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:-51.28, Z:-16.85 [[ 9.59363890e-01 2.71067209e-01 7.83804489e-02 2.42047552e+02] [-2.70199673e-01 9.62560346e-01 -2.16729746e-02 -5.12808861e+01] [-8.13207448e-02 -3.86102413e-04 9.96687909e-01 -1.68461912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.07, Y:-51.29, Z:-16.85 [[ 9.59894725e-01 2.69459721e-01 7.74181845e-02 2.42073796e+02] [-2.68608878e-01 9.63011627e-01 -2.13980680e-02 -5.12895860e+01] [-8.03205293e-02 -2.55319077e-04 9.96769054e-01 -1.68495005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:-51.30, Z:-16.85 [[ 9.59995919e-01 2.69119925e-01 7.73453451e-02 2.42100684e+02] [-2.68270066e-01 9.63106646e-01 -2.13719401e-02 -5.12973126e+01] [-8.02434308e-02 -2.32465555e-04 9.96775269e-01 -1.68522244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-51.30, Z:-16.85 [[ 9.59940235e-01 2.69412643e-01 7.70167080e-02 2.42128345e+02] [-2.68571339e-01 9.63024797e-01 -2.12761894e-02 -5.13044556e+01] [-7.99010741e-02 -2.60610107e-04 9.96802764e-01 -1.68548569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.15, Y:-51.31, Z:-16.86 [[ 9.59631340e-01 2.70565760e-01 7.68235735e-02 2.42154219e+02] [-2.69732643e-01 9.62701429e-01 -2.12193444e-02 -5.13120541e+01] [-7.96993920e-02 -3.59077627e-04 9.96818879e-01 -1.68571320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.18, Y:-51.32, Z:-16.86 [[ 9.59462248e-01 2.70958158e-01 7.75491516e-02 2.42179401e+02] [-2.70656811e-01 9.62565613e-01 -1.45715681e-02 -5.13233973e+01] [-7.85944319e-02 -7.00833655e-03 9.96882038e-01 -1.68574768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.21, Y:-51.32, Z:-16.86 [[ 9.59276627e-01 2.72366899e-01 7.48640477e-02 2.42208776e+02] [-2.71060450e-01 9.62175485e-01 -2.72867927e-02 -5.13244156e+01] [-7.94643705e-02 5.88290000e-03 9.96820348e-01 -1.68625074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.24, Y:-51.34, Z:-16.87 [[ 9.58824142e-01 2.73624342e-01 7.60656531e-02 2.42235433e+02] [-2.72818834e-01 9.61836434e-01 -2.09894543e-02 -5.13358397e+01] [-7.89059422e-02 -6.26947299e-04 9.96881868e-01 -1.68657894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:-51.34, Z:-16.87 [[ 9.58601865e-01 2.74396320e-01 7.60862947e-02 2.42262355e+02] [-2.73593112e-01 9.61616440e-01 -2.09912259e-02 -5.13426095e+01] [-7.89257470e-02 -6.94457895e-04 9.96880256e-01 -1.68679414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:-51.35, Z:-16.87 [[ 9.57904608e-01 2.76788589e-01 7.62026147e-02 2.42289800e+02] [-2.75990863e-01 9.60930420e-01 -2.10183795e-02 -5.13468428e+01] [-7.90430582e-02 -8.97622821e-04 9.96870799e-01 -1.68703866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:-51.35, Z:-16.87 [[ 9.57937951e-01 2.76672779e-01 7.62040377e-02 2.42317192e+02] [-2.75875098e-01 9.60963774e-01 -2.10132191e-02 -5.13542382e+01] [-7.90431054e-02 -8.93436326e-04 9.96870799e-01 -1.68729269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:-51.36, Z:-16.88 [[ 9.57687444e-01 2.77564459e-01 7.61099907e-02 2.42343145e+02] [-2.76772351e-01 9.60706521e-01 -2.09772689e-02 -5.13600088e+01] [-7.89419086e-02 -9.75473986e-04 9.96878741e-01 -1.68757904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.37, Y:-51.37, Z:-16.88 [[ 9.57595641e-01 2.78026609e-01 7.55764092e-02 2.42370527e+02] [-2.77247741e-01 9.60572836e-01 -2.08210502e-02 -5.13668753e+01] [-7.83854517e-02 -1.01524177e-03 9.96922610e-01 -1.68792254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:-51.38, Z:-16.88 [[ 9.58057554e-01 2.76365873e-01 7.58131044e-02 2.42397523e+02] [-2.75577391e-01 9.61052088e-01 -2.08802679e-02 -5.13755322e+01] [-7.86309358e-02 -8.87879131e-04 9.96903399e-01 -1.68818705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.42, Y:-51.38, Z:-16.88 [[ 9.58493644e-01 2.74735331e-01 7.62261923e-02 2.42424356e+02] [-2.73933548e-01 9.61519586e-01 -2.09880220e-02 -5.13829962e+01] [-7.90591280e-02 -7.64025595e-04 9.96869636e-01 -1.68841757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:-51.39, Z:-16.89 [[ 9.58967218e-01 2.72951771e-01 7.66759800e-02 2.42451035e+02] [-2.72135282e-01 9.62027514e-01 -2.11056846e-02 -5.13904263e+01] [-7.95252364e-02 -6.26579786e-04 9.96832656e-01 -1.68869896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:-51.40, Z:-16.89 [[ 9.59492983e-01 2.71012269e-01 7.69777006e-02 2.42478290e+02] [-2.70183491e-01 9.62575777e-01 -2.11838252e-02 -5.13979926e+01] [-7.98379465e-02 -4.72372260e-04 9.96807744e-01 -1.68892903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:-51.40, Z:-16.89 [[ 9.60417294e-01 2.67466848e-01 7.78466856e-02 2.42505323e+02] [-2.66608087e-01 9.63567045e-01 -2.14167370e-02 -5.14049414e+01] [-8.07387680e-02 -1.85551369e-04 9.96735279e-01 -1.68920011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:-51.41, Z:-16.89 [[ 9.60862956e-01 2.65696039e-01 7.84091438e-02 2.42531889e+02] [-2.64819322e-01 9.64056852e-01 -2.15664879e-02 -5.14119173e+01] [-8.13210027e-02 -4.18169857e-05 9.96687962e-01 -1.68941066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:-51.42, Z:-16.90 [[ 9.61267622e-01 2.64027754e-01 7.90816344e-02 2.42558748e+02] [-2.63130777e-01 9.64515078e-01 -2.17452961e-02 -5.14197446e+01] [-8.20167905e-02 9.42371379e-05 9.96630943e-01 -1.68968909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:-51.43, Z:-16.90 [[ 9.61982535e-01 2.61560345e-01 7.85861901e-02 2.42586092e+02] [-2.60666801e-01 9.65187079e-01 -2.16037325e-02 -5.14288892e+01] [-8.15010550e-02 2.97602595e-04 9.96673211e-01 -1.68994150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:-51.44, Z:-16.90 [[ 9.62323861e-01 2.60752229e-01 7.70782840e-02 2.42612383e+02] [-2.59890411e-01 9.65405691e-01 -2.11854911e-02 -5.14360680e+01] [-7.99359781e-02 3.55396668e-04 9.96799936e-01 -1.69021448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:-51.44, Z:-16.91 [[ 9.62638424e-01 2.60265286e-01 7.47612556e-02 2.42639924e+02] [-2.59453478e-01 9.65537072e-01 -2.05440039e-02 -5.14428216e+01] [-7.75316548e-02 3.79379784e-04 9.96989819e-01 -1.69054006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:-51.45, Z:-16.91 [[ 9.62589922e-01 2.60437158e-01 7.47872206e-02 2.42666858e+02] [-2.59625592e-01 9.65490733e-01 -2.05474182e-02 -5.14503744e+01] [-7.75576796e-02 3.62061301e-04 9.96987801e-01 -1.69085412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:-51.46, Z:-16.91 [[ 9.62509328e-01 2.60700033e-01 7.49085244e-02 2.42693450e+02] [-2.59887018e-01 9.65419794e-01 -2.05756816e-02 -5.14583058e+01] [-7.76822531e-02 3.36532446e-04 9.96978111e-01 -1.69108328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:-51.47, Z:-16.91 [[ 9.62188003e-01 2.61673143e-01 7.56400268e-02 2.42719722e+02] [-2.60847603e-01 9.65156517e-01 -2.07708119e-02 -5.14672396e+01] [-7.84396284e-02 2.54906348e-04 9.96918833e-01 -1.69129304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:-51.48, Z:-16.92 [[ 9.62027720e-01 2.62243045e-01 7.57050331e-02 2.42746935e+02] [-2.61418296e-01 9.65001836e-01 -2.07829354e-02 -5.14751370e+01] [-7.85056763e-02 2.03079171e-04 9.96913646e-01 -1.69150550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:-51.48, Z:-16.92 [[ 9.61797399e-01 2.63039057e-01 7.58697385e-02 2.42774297e+02] [-2.62213635e-01 9.64785177e-01 -2.08224105e-02 -5.14825096e+01] [-7.86751063e-02 1.32860322e-04 9.96900301e-01 -1.69179996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:-51.49, Z:-16.92 [[ 9.61610913e-01 2.63778310e-01 7.56667417e-02 2.42800992e+02] [-2.62960037e-01 9.64583329e-01 -2.07610246e-02 -5.14898135e+01] [-7.84631856e-02 6.66986234e-05 9.96917010e-01 -1.69207003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:-51.50, Z:-16.92 [[ 9.61173929e-01 2.65438574e-01 7.54124822e-02 2.42827183e+02] [-2.64631344e-01 9.64127771e-01 -2.06855929e-02 -5.14979117e+01] [-7.81980226e-02 -7.40539264e-05 9.96937843e-01 -1.69234265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:-51.50, Z:-16.93 [[ 9.60872792e-01 2.66557393e-01 7.53036054e-02 2.42854005e+02] [-2.65756384e-01 9.63819032e-01 -2.06498718e-02 -5.15047014e+01] [-7.80834241e-02 -1.70513966e-04 9.96946814e-01 -1.69257985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:-51.51, Z:-16.93 [[ 9.60247713e-01 2.68884675e-01 7.50024054e-02 2.42880356e+02] [-2.68097513e-01 9.63172311e-01 -2.05626696e-02 -5.15109414e+01] [-7.77692269e-02 -3.62701948e-04 9.96971321e-01 -1.69292867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:-51.52, Z:-16.93 [[ 9.60000251e-01 2.69855153e-01 7.46840934e-02 2.42907319e+02] [-2.69078013e-01 9.62900825e-01 -2.04700917e-02 -5.15188861e+01] [-7.74373349e-02 -4.44554283e-04 9.96997122e-01 -1.69319357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:-51.53, Z:-16.93 [[ 9.59454184e-01 2.71650237e-01 7.51918781e-02 2.42934477e+02] [-2.70868454e-01 9.62395859e-01 -2.06031779e-02 -5.15258248e+01] [-7.79612102e-02 -5.99302594e-04 9.96956213e-01 -1.69347298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:-51.53, Z:-16.94 [[ 9.59279928e-01 2.72268499e-01 7.51790205e-02 2.42961351e+02] [-2.71489250e-01 9.62221096e-01 -2.05949097e-02 -5.15316335e+01] [-7.79461846e-02 -6.54012364e-04 9.96957353e-01 -1.69370135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:-51.54, Z:-16.94 [[ 9.59160652e-01 2.72775434e-01 7.48625836e-02 2.42987290e+02] [-2.72004709e-01 9.62077479e-01 -2.05027380e-02 -5.15380043e+01] [-7.76162490e-02 -6.97555773e-04 9.96983065e-01 -1.69398695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.01, Y:-51.55, Z:-16.94 [[ 9.59153326e-01 2.73015292e-01 7.40779830e-02 2.43014333e+02] [-2.72262044e-01 9.62009426e-01 -2.02791533e-02 -5.15450362e+01] [-7.68002369e-02 -7.17805744e-04 9.97046242e-01 -1.69423992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.04, Y:-51.55, Z:-16.94 [[ 9.58904522e-01 2.74016607e-01 7.36003900e-02 2.43041490e+02] [-2.73276461e-01 9.61724629e-01 -2.01423618e-02 -5.15501971e+01] [-7.63026494e-02 -7.98652247e-04 9.97084384e-01 -1.69447093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:-51.56, Z:-16.95 [[ 9.58829824e-01 2.74194957e-01 7.39086900e-02 2.43069235e+02] [-2.73449493e-01 9.61673776e-01 -2.02218576e-02 -5.15558835e+01] [-7.66207804e-02 -8.20973599e-04 9.97059969e-01 -1.69482238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264000000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.10, Y:-51.56, Z:-16.95 [[ 9.58702108e-01 2.74949838e-01 7.27520074e-02 2.43095219e+02] [-2.74230112e-01 9.61458177e-01 -1.99002575e-02 -5.15621302e+01] [-7.54195850e-02 -8.72372354e-04 9.97151506e-01 -1.69497827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.12, Y:-51.57, Z:-16.95 [[ 9.58411760e-01 2.75784639e-01 7.34147831e-02 2.43122717e+02] [-2.75054660e-01 9.61218979e-01 -2.00750895e-02 -5.15683852e+01] [-7.61040841e-02 -9.52876333e-04 9.97099424e-01 -1.69520003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:-51.58, Z:-16.95 [[ 9.58385811e-01 2.74773070e-01 7.74364148e-02 2.43147075e+02] [-2.75126575e-01 9.61387528e-01 -6.27607340e-03 -5.15817743e+01] [-7.61708993e-02 -1.52899159e-02 9.96977539e-01 -1.69502630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:-51.57, Z:-16.96 [[ 9.58196391e-01 2.77290665e-01 7.04951319e-02 2.43179597e+02] [-2.75522894e-01 9.60697740e-01 -3.38672010e-02 -5.15710303e+01] [-7.71155726e-02 1.30284071e-02 9.96937034e-01 -1.69579835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:-51.59, Z:-16.96 [[ 9.58444457e-01 2.75709887e-01 7.32685595e-02 2.43204320e+02] [-2.74984675e-01 9.61240404e-01 -2.00078425e-02 -5.15858311e+01] [-7.59450598e-02 -9.71325270e-04 9.97111531e-01 -1.69614102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.23, Y:-51.59, Z:-16.96 [[ 9.58607611e-01 2.75133905e-01 7.32992631e-02 2.43230195e+02] [-2.74406832e-01 9.61405464e-01 -2.00106065e-02 -5.15916488e+01] [-7.59759083e-02 -9.31498843e-04 9.97109219e-01 -1.69639846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264000000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.26, Y:-51.60, Z:-16.97 [[ 9.58765265e-01 2.74792181e-01 7.25149903e-02 2.43257767e+02] [-2.74080134e-01 9.61503222e-01 -1.97897640e-02 -5.15970330e+01] [-7.51614692e-02 -9.01179982e-04 9.97170969e-01 -1.69655315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:-51.61, Z:-16.97 [[ 9.59340417e-01 2.72146402e-01 7.48485167e-02 2.43282960e+02] [-2.72354109e-01 9.62166956e-01 -7.61498638e-03 -5.16070623e+01] [-7.40891606e-02 -1.30799369e-02 9.97165840e-01 -1.69657293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:-51.60, Z:-16.97 [[ 9.59453136e-01 2.73124247e-01 6.96622254e-02 2.43314579e+02] [-2.71534804e-01 9.61911956e-01 -3.15315626e-02 -5.16005508e+01] [-7.56209617e-02 1.13373378e-02 9.97072181e-01 -1.69715778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.34, Y:-51.61, Z:-16.97 [[ 9.59751067e-01 2.71122401e-01 7.32839207e-02 2.43338816e+02] [-2.70386487e-01 9.62544662e-01 -1.99730150e-02 -5.16149694e+01] [-7.59541784e-02 -6.45859397e-04 9.97111100e-01 -1.69744137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:-51.62, Z:-16.98 [[ 9.60281539e-01 2.69205727e-01 7.34005574e-02 2.43365144e+02] [-2.68462382e-01 9.63082564e-01 -1.99981102e-02 -5.16215168e+01] [-7.60744028e-02 -5.01472436e-04 9.97102018e-01 -1.69772135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:-51.63, Z:-16.98 [[ 9.60507710e-01 2.68451098e-01 7.32048301e-02 2.43391582e+02] [-2.67710028e-01 9.63293210e-01 -1.99382130e-02 -5.16280114e+01] [-7.58701510e-02 -4.46859860e-04 9.97117606e-01 -1.69798732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:-51.63, Z:-16.98 [[ 9.60821436e-01 2.67422584e-01 7.28514280e-02 2.43419140e+02] [-2.66686198e-01 9.63579278e-01 -1.98355042e-02 -5.16339394e+01] [-7.55025881e-02 -3.70092702e-04 9.97145537e-01 -1.69820397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:-51.64, Z:-16.98 [[ 9.61096654e-01 2.66485157e-01 7.26559195e-02 2.43446393e+02] [-2.65750476e-01 9.63838975e-01 -1.97765939e-02 -5.16401553e+01] [-7.52987757e-02 -3.01127003e-04 9.97160972e-01 -1.69846714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:-51.65, Z:-16.99 [[ 9.61449286e-01 2.65092013e-01 7.30855366e-02 2.43472697e+02] [-2.64345016e-01 9.64223099e-01 -1.98878648e-02 -5.16451490e+01] [-7.57428767e-02 -1.98623944e-04 9.97127363e-01 -1.69877037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.50, Y:-51.65, Z:-16.99 [[ 9.61637331e-01 2.64512488e-01 7.27103040e-02 2.43499614e+02] [-2.63772015e-01 9.64382247e-01 -1.97789095e-02 -5.16516807e+01] [-7.53522949e-02 -1.58805709e-04 9.97156962e-01 -1.69899831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:-51.66, Z:-16.99 [[ 9.61790716e-01 2.63953215e-01 7.27139512e-02 2.43526199e+02] [-2.63211478e-01 9.64535477e-01 -1.97745290e-02 -5.16585184e+01] [-7.53547361e-02 -1.20188157e-04 9.97156783e-01 -1.69922390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77264000000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:243.55, Y:-51.66, Z:-16.99 [[ 9.61952055e-01 2.63498275e-01 7.22281346e-02 2.43554220e+02] [-2.62765576e-01 9.64659863e-01 -1.96367280e-02 -5.16640576e+01] [-7.48498264e-02 -8.94766031e-05 9.97194813e-01 -1.69928941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.58, Y:-51.67, Z:-17.00 [[ 9.61918686e-01 2.63412568e-01 7.29812275e-02 2.43580727e+02] [-2.62664653e-01 9.64683270e-01 -1.98360607e-02 -5.16694643e+01] [-7.56288369e-02 -8.89113197e-05 9.97136034e-01 -1.69961424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.61, Y:-51.67, Z:-17.00 [[ 9.61877843e-01 2.63773479e-01 7.22119587e-02 2.43606810e+02] [-2.63042940e-01 9.64584644e-01 -1.96182419e-02 -5.16748933e+01] [-7.48293184e-02 -1.24493682e-04 9.97196349e-01 -1.69975472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.63, Y:-51.68, Z:-17.00 [[ 9.61646105e-01 2.64730427e-01 7.17953307e-02 2.43634366e+02] [-2.64011470e-01 9.64322435e-01 -1.94983161e-02 -5.16799096e+01] [-7.43956457e-02 -2.04311078e-04 9.97228783e-01 -1.70003284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:-51.69, Z:-17.00 [[ 9.61555552e-01 2.64958050e-01 7.21675336e-02 2.43661275e+02] [-2.64232661e-01 9.64259913e-01 -1.95939061e-02 -5.16853159e+01] [-7.47798228e-02 -2.28390271e-04 9.97200043e-01 -1.70034610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:-51.69, Z:-17.01 [[ 9.61492078e-01 2.65160486e-01 7.22696382e-02 2.43689011e+02] [-2.64434023e-01 9.64204260e-01 -1.96161484e-02 -5.16904332e+01] [-7.48841204e-02 -2.49779901e-04 9.97192211e-01 -1.70058035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.72, Y:-51.69, Z:-17.01 [[ 9.61238349e-01 2.65918687e-01 7.28566255e-02 2.43717056e+02] [-2.65182951e-01 9.63995410e-01 -1.97699488e-02 -5.16946247e+01] [-7.54906515e-02 -3.16702091e-04 9.97146459e-01 -1.70076612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:-51.70, Z:-17.01 [[ 9.61087854e-01 2.66398187e-01 7.30899703e-02 2.43743089e+02] [-2.65659526e-01 9.63862996e-01 -1.98277737e-02 -5.17006918e+01] [-7.57308007e-02 -3.60814394e-04 9.97128234e-01 -1.70100769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:-51.71, Z:-17.01 [[ 9.60984804e-01 2.66842095e-01 7.28251570e-02 2.43770022e+02] [-2.66110562e-01 9.63740181e-01 -1.97492665e-02 -5.17072732e+01] [-7.54544656e-02 -4.00798395e-04 9.97149168e-01 -1.70126193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:-51.72, Z:-17.01 [[ 9.60769123e-01 2.67186753e-01 7.43903976e-02 2.43795277e+02] [-2.67295906e-01 9.63575494e-01 -8.66985386e-03 -5.17168675e+01] [-7.39972342e-02 -1.15545209e-02 9.97191507e-01 -1.70127813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:-51.71, Z:-17.02 [[ 9.60596947e-01 2.69180192e-01 6.92497621e-02 2.43828466e+02] [-2.67706633e-01 9.63035787e-01 -2.99204388e-02 -5.17090649e+01] [-7.47439885e-02 1.02028615e-02 9.97150559e-01 -1.70169247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:-51.72, Z:-17.02 [[ 9.60615834e-01 2.68501293e-01 7.15840404e-02 2.43853832e+02] [-2.67800146e-01 9.63279175e-01 -1.93987781e-02 -5.17200070e+01] [-7.41640123e-02 -5.35443065e-04 9.97245914e-01 -1.70202080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.88, Y:-51.74, Z:-17.01 [[ 9.61038884e-01 2.66200731e-01 7.44408111e-02 2.43876879e+02] [-2.67285594e-01 9.63605261e-01 4.82830770e-03 -5.17396067e+01] [-7.04462581e-02 -2.45371478e-02 9.97213745e-01 -1.70135536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:-51.72, Z:-17.02 [[ 9.60698895e-01 2.69907778e-01 6.48646552e-02 2.43913205e+02] [-2.67590690e-01 9.62605799e-01 -4.22527857e-02 -5.17175424e+01] [-7.38434488e-02 2.32350267e-02 9.96999137e-01 -1.70223309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.94, Y:-51.74, Z:-17.03 [[ 9.60788887e-01 2.67865267e-01 7.16443500e-02 2.43936385e+02] [-2.67162970e-01 9.63456246e-01 -1.93909451e-02 -5.17360999e+01] [-7.42203572e-02 -5.10112761e-04 9.97241735e-01 -1.70273125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:-51.74, Z:-17.03 [[ 9.61064612e-01 2.67204652e-01 7.04023137e-02 2.43963431e+02] [-2.66525131e-01 9.63639697e-01 -1.90496288e-02 -5.17401153e+01] [-7.29326137e-02 -4.56061757e-04 9.97336767e-01 -1.70290618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:-51.75, Z:-17.03 [[ 9.61167453e-01 2.66893494e-01 7.01782749e-02 2.43990485e+02] [-2.66217843e-01 9.63725932e-01 -1.89838749e-02 -5.17459079e+01] [-7.26992961e-02 -4.36026311e-04 9.97353810e-01 -1.70320188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:-51.75, Z:-17.03 [[ 9.61285156e-01 2.66653465e-01 6.94750257e-02 2.44017995e+02] [-2.65991064e-01 9.63792381e-01 -1.87882815e-02 -5.17513632e+01] [-7.19694609e-02 -4.18839876e-04 9.97406748e-01 -1.70344746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:-51.76, Z:-17.04 [[ 9.61333796e-01 2.66477823e-01 6.94759108e-02 2.44045412e+02] [-2.65815201e-01 9.63840963e-01 -1.87850088e-02 -5.17585904e+01] [-7.19695170e-02 -4.09089404e-04 9.97406748e-01 -1.70370126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.07, Y:-51.76, Z:-17.04 [[ 9.61374680e-01 2.66407765e-01 6.91782233e-02 2.44073110e+02] [-2.65751750e-01 9.63860326e-01 -1.86890052e-02 -5.17633918e+01] [-7.16570410e-02 -4.17097450e-04 9.97429243e-01 -1.70391336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:-51.77, Z:-17.04 [[ 9.61596546e-01 2.65523740e-01 6.94926396e-02 2.44099876e+02] [-2.64859828e-01 9.64104255e-01 -1.87684986e-02 -5.17698037e+01] [-7.19816315e-02 -3.58085102e-04 9.97405894e-01 -1.70418699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:-51.78, Z:-17.04 [[ 9.61833251e-01 2.64557803e-01 6.98996872e-02 2.44126170e+02] [-2.63883920e-01 9.64369786e-01 -1.88730894e-02 -5.17759092e+01] [-7.24021694e-02 -2.92638511e-04 9.97375476e-01 -1.70441961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:-51.78, Z:-17.05 [[ 9.62171178e-01 2.62305990e-01 7.36355285e-02 2.44151980e+02] [-2.62133397e-01 9.64954890e-01 -1.21714101e-02 -5.17846991e+01] [-7.42475971e-02 -7.59135127e-03 9.97210943e-01 -1.70472456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:-51.78, Z:-17.05 [[ 9.62543452e-01 2.62589588e-01 6.75041630e-02 2.44182114e+02] [-2.61415485e-01 9.64880613e-01 -2.58330600e-02 -5.17823219e+01] [-7.19169507e-02 7.21880917e-03 9.97384500e-01 -1.70473805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49264000000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:244.21, Y:-51.80, Z:-17.05 [[ 9.62528779e-01 2.60200671e-01 7.63803644e-02 2.44205230e+02] [-2.60536370e-01 9.65447140e-01 -5.71140267e-03 -5.18014330e+01] [-7.52273151e-02 -1.44024734e-02 9.97062395e-01 -1.70529901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:-51.79, Z:-17.05 [[ 9.63232105e-01 2.60558392e-01 6.55227938e-02 2.44238246e+02] [-2.58935718e-01 9.65354525e-01 -3.22945033e-02 -5.17924867e+01] [-7.16673293e-02 1.41409107e-02 9.97328345e-01 -1.70515503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:-51.81, Z:-17.06 [[ 9.63551516e-01 2.58290757e-01 6.96732449e-02 2.44261967e+02] [-2.57607996e-01 9.66067216e-01 -1.87684378e-02 -5.18067693e+01] [-7.21567517e-02 1.35971686e-04 9.97393295e-01 -1.70557757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:-51.81, Z:-17.06 [[ 9.63888177e-01 2.57032583e-01 6.96694633e-02 2.44288873e+02] [-2.56347079e-01 9.66402712e-01 -1.87609645e-02 -5.18136807e+01] [-7.21509374e-02 2.23908392e-04 9.97393700e-01 -1.70579264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.31, Y:-51.82, Z:-17.06 [[ 9.64341815e-01 2.55313773e-01 6.97118422e-02 2.44314426e+02] [-2.54623264e-01 9.66858188e-01 -1.87680013e-02 -5.18208984e+01] [-7.21931947e-02 3.48511695e-04 9.97390606e-01 -1.70607962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:-51.83, Z:-17.06 [[ 9.65188838e-01 2.52031854e-01 6.99317607e-02 2.44340414e+02] [-2.51329167e-01 9.67718762e-01 -1.88161595e-02 -5.18304673e+01] [-7.24165484e-02 5.85255943e-04 9.97374303e-01 -1.70632420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:-51.84, Z:-17.07 [[ 9.65593661e-01 2.50249539e-01 7.07393144e-02 2.44366189e+02] [-2.49526118e-01 9.68181102e-01 -1.90281273e-02 -5.18376067e+01] [-7.32502474e-02 7.22132560e-04 9.97313331e-01 -1.70660814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:-51.85, Z:-17.07 [[ 9.65991606e-01 2.48675984e-01 7.08552859e-02 2.44392831e+02] [-2.47946436e-01 9.68586370e-01 -1.90528123e-02 -5.18459709e+01] [-7.33674410e-02 8.36541159e-04 9.97304627e-01 -1.70683100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.42, Y:-51.87, Z:-17.07 [[ 9.66261653e-01 2.45113947e-01 7.91048082e-02 2.44415319e+02] [-2.45560529e-01 9.69372233e-01 -4.18344809e-03 -5.18665226e+01] [-7.77074260e-02 -1.53827131e-02 9.96857526e-01 -1.70744378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.45, Y:-51.87, Z:-17.07 [[ 9.66355699e-01 2.46577862e-01 7.31848398e-02 2.44446094e+02] [-2.45639189e-01 9.69118355e-01 -2.17026069e-02 -5.18650956e+01] [-7.62761540e-02 2.99537321e-03 9.97082231e-01 -1.70745392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:-51.87, Z:-17.07 [[ 9.66498840e-01 2.46975707e-01 6.98784183e-02 2.44471897e+02] [-2.46177074e-01 9.69019431e-01 -1.99546929e-02 -5.18734869e+01] [-7.26418696e-02 2.08372298e-03 9.97355913e-01 -1.70726339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:-51.88, Z:-17.08 [[ 9.65587133e-01 2.51319310e-01 6.69334926e-02 2.44500519e+02] [-2.49857042e-01 9.67832477e-01 -2.95255069e-02 -5.18760285e+01] [-7.22007379e-02 1.17856451e-02 9.97320486e-01 -1.70785249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:-51.89, Z:-17.08 [[ 9.64967381e-01 2.53132204e-01 6.90075393e-02 2.44525132e+02] [-2.52452094e-01 9.67431578e-01 -1.85494441e-02 -5.18893697e+01] [-7.14555343e-02 4.78510680e-04 9.97443671e-01 -1.70820291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:-51.90, Z:-17.08 [[ 9.64254798e-01 2.55840116e-01 6.89820275e-02 2.44552227e+02] [-2.55167884e-01 9.66719071e-01 -1.85361655e-02 -5.18962329e+01] [-7.14285362e-02 2.71588539e-04 9.97445683e-01 -1.70847036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:-51.90, Z:-17.09 [[ 9.63541670e-01 2.58596943e-01 6.86663803e-02 2.44579443e+02] [-2.57938204e-01 9.65985309e-01 -1.84462974e-02 -5.19036503e+01] [-7.11008707e-02 6.20934460e-05 9.97469129e-01 -1.70871599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.60, Y:-51.92, Z:-17.09 [[ 9.62085703e-01 2.63400623e-01 7.07899108e-02 2.44603368e+02] [-2.63372414e-01 9.64643434e-01 -9.90037919e-03 -5.19162224e+01] [-7.08947886e-02 -9.11909642e-03 9.97442114e-01 -1.70878633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:-51.91, Z:-17.09 [[ 9.61413208e-01 2.66739380e-01 6.73405277e-02 2.44634393e+02] [-2.65495350e-01 9.63735166e-01 -2.69582707e-02 -5.19134187e+01] [-7.20892670e-02 8.03944051e-03 9.97365783e-01 -1.70915414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.66, Y:-51.92, Z:-17.10 [[ 9.60936083e-01 2.67817294e-01 6.98265038e-02 2.44659119e+02] [-2.67162162e-01 9.63469496e-01 -1.87325999e-02 -5.19243882e+01] [-7.22926206e-02 -6.54168550e-04 9.97383251e-01 -1.70950183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:-51.93, Z:-17.10 [[ 9.60342073e-01 2.69984482e-01 6.96525848e-02 2.44685741e+02] [-2.69338699e-01 9.62864324e-01 -1.86804409e-02 -5.19299323e+01] [-7.21094182e-02 -8.20523247e-04 9.97396390e-01 -1.70972387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:-51.94, Z:-17.10 [[ 9.60238548e-01 2.70189357e-01 7.02825957e-02 2.44711642e+02] [-2.69533187e-01 9.62806825e-01 -1.88382376e-02 -5.19365642e+01] [-7.27584541e-02 -8.54290076e-04 9.97349225e-01 -1.71003413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:-51.94, Z:-17.10 [[ 9.60450909e-01 2.69540307e-01 6.98718422e-02 2.44738440e+02] [-2.68890556e-01 9.62988770e-01 -1.87215604e-02 -5.19434358e+01] [-7.23320146e-02 -8.06738844e-04 9.97380283e-01 -1.71022666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:-51.96, Z:-17.11 [[ 9.60745424e-01 2.67293912e-01 7.43114705e-02 2.44763838e+02] [-2.67164652e-01 9.63577917e-01 -1.18594575e-02 -5.19557517e+01] [-7.47748527e-02 -8.45947865e-03 9.97164559e-01 -1.71062877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:-51.95, Z:-17.11 [[ 9.61179092e-01 2.67254470e-01 6.86279896e-02 2.44793642e+02] [-2.66048580e-01 9.63600288e-01 -2.63180005e-02 -5.19549542e+01] [-7.31635539e-02 7.03793258e-03 9.97295123e-01 -1.71065178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:-51.97, Z:-17.11 [[ 9.61469554e-01 2.65658121e-01 7.07252448e-02 2.44818326e+02] [-2.64983612e-01 9.64067149e-01 -1.89266418e-02 -5.19668486e+01] [-7.32119012e-02 -5.43640982e-04 9.97316260e-01 -1.71099343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:-51.97, Z:-17.11 [[ 9.61975291e-01 2.64068567e-01 6.97949307e-02 2.44844942e+02] [-2.63407986e-01 9.64503817e-01 -1.86713675e-02 -5.19738398e+01] [-7.22479984e-02 -4.23147995e-04 9.97386609e-01 -1.71117173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:-51.99, Z:-17.12 [[ 9.61922983e-01 2.63123608e-01 7.39604069e-02 2.44868786e+02] [-2.62962673e-01 9.64730371e-01 -1.20807528e-02 -5.19856089e+01] [-7.45305820e-02 -7.82807252e-03 9.97188003e-01 -1.71157913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:-51.99, Z:-17.12 [[ 9.62293582e-01 2.63176374e-01 6.87696065e-02 2.44899505e+02] [-2.62001871e-01 9.64724136e-01 -2.57363882e-02 -5.19856517e+01] [-7.31169085e-02 6.74819563e-03 9.97300546e-01 -1.71166446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:-52.00, Z:-17.12 [[ 9.62923801e-01 2.60435180e-01 7.03652588e-02 2.44923796e+02] [-2.59755460e-01 9.65491319e-01 -1.88046058e-02 -5.19978868e+01] [-7.28344275e-02 -1.70357657e-04 9.97344031e-01 -1.71196842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:-52.01, Z:-17.12 [[ 9.63221107e-01 2.59489619e-01 6.97870852e-02 2.44950924e+02] [-2.58819040e-01 9.65745891e-01 -1.86434375e-02 -5.20056723e+01] [-7.22343693e-02 -1.04473902e-04 9.97387680e-01 -1.71224811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:-52.01, Z:-17.13 [[ 9.63508117e-01 2.58528659e-01 6.93905007e-02 2.44977671e+02] [-2.57863575e-01 9.66003588e-01 -1.85322841e-02 -5.20139535e+01] [-7.18225992e-02 -3.72764286e-05 9.97417422e-01 -1.71252653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39264000000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.00, Y:-52.02, Z:-17.13 [[ 9.63690588e-01 2.58036502e-01 6.86848960e-02 2.45002977e+02] [-2.57383939e-01 9.66135168e-01 -1.83396874e-02 -5.20226496e+01] [-7.10912023e-02 -4.60500789e-06 9.97469820e-01 -1.71278134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:-52.03, Z:-17.13 [[ 9.63967585e-01 2.57121084e-01 6.82293401e-02 2.45028924e+02] [-2.56475612e-01 9.66379194e-01 -1.82075521e-02 -5.20318308e+01] [-7.06169602e-02 5.23282990e-05 9.97503505e-01 -1.71309875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.06, Y:-52.04, Z:-17.13 [[ 9.63882436e-01 2.57483609e-01 6.80649809e-02 2.45055767e+02] [-2.56842507e-01 9.66282666e-01 -1.81586306e-02 -5.20389628e+01] [-7.04455609e-02 2.08047971e-05 9.97515625e-01 -1.71323599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.08, Y:-52.05, Z:-17.13 [[ 9.63518054e-01 2.58313422e-01 7.00509534e-02 2.45081371e+02] [-2.57636893e-01 9.66061165e-01 -1.86830877e-02 -5.20463837e+01] [-7.24995979e-02 -4.62176257e-05 9.97368441e-01 -1.71340066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51264000000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.11, Y:-52.06, Z:-17.14 [[ 9.63146216e-01 2.58490699e-01 7.43769116e-02 2.45105787e+02] [-2.58293233e-01 9.65986612e-01 -1.24286526e-02 -5.20589774e+01] [-7.50597920e-02 -7.24044328e-03 9.97152748e-01 -1.71374016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:-52.06, Z:-17.14 [[ 9.63211687e-01 2.59669537e-01 6.92457712e-02 2.45135801e+02] [-2.58511664e-01 9.65675578e-01 -2.53455799e-02 -5.20591540e+01] [-7.34504251e-02 6.51231929e-03 9.97277607e-01 -1.71376954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:-52.07, Z:-17.14 [[ 9.63342726e-01 2.59010915e-01 6.98866144e-02 2.45160894e+02] [-2.58340159e-01 9.65874388e-01 -1.86286912e-02 -5.20700717e+01] [-7.23267253e-02 -1.08704956e-04 9.97380987e-01 -1.71413606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264000000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.19, Y:-52.08, Z:-17.14 [[ 9.63347251e-01 2.59048295e-01 6.96853978e-02 2.45187258e+02] [-2.58381990e-01 9.65864363e-01 -1.85682595e-02 -5.20779398e+01] [-7.21167183e-02 -1.17769959e-04 9.97396193e-01 -1.71444901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:-52.09, Z:-17.15 [[ 9.63464613e-01 2.58632086e-01 6.96087858e-02 2.45214031e+02] [-2.57966539e-01 9.65975898e-01 -1.85426320e-02 -5.20856384e+01] [-7.20361290e-02 -9.15677446e-05 9.97402019e-01 -1.71470433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:-52.09, Z:-17.15 [[ 9.63164388e-01 2.59543762e-01 7.03661617e-02 2.45240191e+02] [-2.58866392e-01 9.65731333e-01 -1.87398700e-02 -5.20939655e+01] [-7.28186235e-02 -1.65858959e-04 9.97345186e-01 -1.71489028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:-52.10, Z:-17.15 [[ 9.62947001e-01 2.60434094e-01 7.00510921e-02 2.45267104e+02] [-2.59765921e-01 9.65491597e-01 -1.86451659e-02 -5.21019614e+01] [-7.24895777e-02 -2.42579920e-04 9.97369140e-01 -1.71509085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.29, Y:-52.11, Z:-17.15 [[ 9.62738553e-01 2.61216470e-01 7.00031102e-02 2.45292948e+02] [-2.60551645e-01 9.65280199e-01 -1.86273450e-02 -5.21101216e+01] [-7.24383854e-02 -3.06162372e-04 9.97372842e-01 -1.71538625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:-52.12, Z:-17.16 [[ 9.62469198e-01 2.62270002e-01 6.97673960e-02 2.45320041e+02] [-2.61612875e-01 9.64994453e-01 -1.85582879e-02 -5.21181271e+01] [-7.21924324e-02 -3.90268549e-04 9.97390646e-01 -1.71559500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.35, Y:-52.12, Z:-17.16 [[ 9.61920004e-01 2.64285666e-01 6.97351647e-02 2.45345780e+02] [-2.63634796e-01 9.64444290e-01 -1.85446983e-02 -5.21248829e+01] [-7.21567794e-02 -5.46099679e-04 9.97393153e-01 -1.71580984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:-52.13, Z:-17.16 [[ 9.61784204e-01 2.64750041e-01 6.98466928e-02 2.45372243e+02] [-2.64098767e-01 9.64316893e-01 -1.85680179e-02 -5.21322508e+01] [-7.22702293e-02 -5.87999103e-04 9.97384915e-01 -1.71607523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:-52.14, Z:-17.16 [[ 9.61743950e-01 2.64982418e-01 6.95190076e-02 2.45398459e+02] [-2.64338217e-01 9.64253053e-01 -1.84758715e-02 -5.21395449e+01] [-7.19296964e-02 -6.07472809e-04 9.97409520e-01 -1.71632222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:-52.15, Z:-17.17 [[ 9.61760989e-01 2.64795083e-01 6.99954638e-02 2.45425283e+02] [-2.64141986e-01 9.64304516e-01 -1.85960138e-02 -5.21468941e+01] [-7.24210749e-02 -6.03820232e-04 9.97373964e-01 -1.71656684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:-52.16, Z:-17.17 [[ 9.62009498e-01 2.63839473e-01 7.01887369e-02 2.45451747e+02] [-2.63180600e-01 9.64566453e-01 -1.86421342e-02 -5.21552371e+01] [-7.26202319e-02 -5.38403767e-04 9.97359520e-01 -1.71680084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:-52.16, Z:-17.17 [[ 9.62213273e-01 2.63123634e-01 7.00825999e-02 2.45477502e+02] [-2.62465241e-01 9.64761999e-01 -1.86086783e-02 -5.21627385e+01] [-7.25094122e-02 -4.88729258e-04 9.97367608e-01 -1.71706131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:-52.17, Z:-17.17 [[ 9.62225153e-01 2.63083649e-01 7.00695946e-02 2.45504100e+02] [-2.62425881e-01 9.64772901e-01 -1.85985390e-02 -5.21714662e+01] [-7.24942176e-02 -4.92093024e-04 9.97368711e-01 -1.71735801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99264000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:-52.18, Z:-17.18 [[ 9.62216129e-01 2.63089963e-01 7.01697353e-02 2.45530009e+02] [-2.62430695e-01 9.64771177e-01 -1.86200678e-02 -5.21791671e+01] [-7.25964911e-02 -4.98162815e-04 9.97361269e-01 -1.71759221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:-52.19, Z:-17.18 [[ 9.62156890e-01 2.63298461e-01 7.02000021e-02 2.45556184e+02] [-2.62639623e-01 9.64714284e-01 -1.86219964e-02 -5.21862388e+01] [-7.26260878e-02 -5.20019897e-04 9.97359103e-01 -1.71780566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:-52.19, Z:-17.18 [[ 9.61958280e-01 2.63771881e-01 7.11383382e-02 2.45583010e+02] [-2.63097055e-01 9.64584921e-01 -1.88644946e-02 -5.21929294e+01] [-7.35948916e-02 -5.69430539e-04 9.97288057e-01 -1.71808103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:-52.20, Z:-17.18 [[ 9.62069126e-01 2.63463255e-01 7.07821255e-02 2.45609993e+02] [-2.62794734e-01 9.64669276e-01 -1.87647296e-02 -5.22006746e+01] [-7.32251585e-02 -5.48202855e-04 9.97315284e-01 -1.71830577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:-52.21, Z:-17.19 [[ 9.62326256e-01 2.62579203e-01 7.05715182e-02 2.45635835e+02] [-2.61912674e-01 9.64910321e-01 -1.87035782e-02 -5.22084769e+01] [-7.30063569e-02 -4.84630632e-04 9.97331358e-01 -1.71858297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:-52.22, Z:-17.19 [[ 9.62871860e-01 2.60576432e-01 7.05528454e-02 2.45661999e+02] [-2.59905303e-01 9.65453162e-01 -1.86928958e-02 -5.22157741e+01] [-7.29863958e-02 -3.38195353e-04 9.97332879e-01 -1.71877322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:-52.22, Z:-17.19 [[ 9.62887126e-01 2.60519306e-01 7.05554735e-02 2.45689458e+02] [-2.59848752e-01 9.65468577e-01 -1.86829706e-02 -5.22229160e+01] [-7.29863671e-02 -3.44159822e-04 9.97332879e-01 -1.71903376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:-52.23, Z:-17.19 [[ 9.63251235e-01 2.59256907e-01 7.02347167e-02 2.45716034e+02] [-2.58589390e-01 9.65808363e-01 -1.85939255e-02 -5.22302723e+01] [-7.26538803e-02 -2.51330867e-04 9.97357183e-01 -1.71930662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:-52.24, Z:-17.20 [[ 9.63700468e-01 2.57727208e-01 6.97000300e-02 2.45741204e+02] [-2.57066203e-01 9.66217712e-01 -1.84472371e-02 -5.22383834e+01] [-7.20997584e-02 -1.39911074e-04 9.97397416e-01 -1.71960063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:-52.25, Z:-17.20 [[ 9.64483563e-01 2.54903408e-01 6.92510623e-02 2.45767078e+02] [-2.54244087e-01 9.66966519e-01 -1.83220052e-02 -5.22494095e+01] [-7.16338003e-02 6.45998074e-05 9.97430997e-01 -1.71991409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:-52.26, Z:-17.20 [[ 9.64879713e-01 2.53367188e-01 6.93700843e-02 2.45794085e+02] [-2.52702016e-01 9.67370166e-01 -1.83481030e-02 -5.22581022e+01] [-7.17553572e-02 1.73752213e-04 9.97422247e-01 -1.72014480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-52.27, Z:-17.20 [[ 9.65164165e-01 2.52053501e-01 7.01937865e-02 2.45820493e+02] [-2.51369374e-01 9.67713264e-01 -1.85601041e-02 -5.22676893e+01] [-7.26055975e-02 2.68979174e-04 9.97360694e-01 -1.72040373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:-52.28, Z:-17.21 [[ 9.65405166e-01 2.51099817e-01 7.02975697e-02 2.45847546e+02] [-2.50411489e-01 9.67961140e-01 -1.85827225e-02 -5.22770755e+01] [-7.27114339e-02 3.36537215e-04 9.97352964e-01 -1.72056527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:-52.29, Z:-17.21 [[ 9.65303796e-01 2.51341715e-01 7.08231861e-02 2.45874637e+02] [-2.50643968e-01 9.67898363e-01 -1.87179004e-02 -5.22868496e+01] [-7.32542351e-02 3.17055921e-04 9.97313249e-01 -1.72073496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:245.90, Y:-52.29, Z:-17.21 [[ 9.65149097e-01 2.51987752e-01 7.06356443e-02 2.45901620e+02] [-2.51295677e-01 9.67730388e-01 -1.86649305e-02 -5.22946503e+01] [-7.30595934e-02 2.64008770e-04 9.97327542e-01 -1.72107704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:-52.30, Z:-17.21 [[ 9.64578107e-01 2.54181388e-01 7.05754788e-02 2.45927605e+02] [-2.53496727e-01 9.67156561e-01 -1.86439252e-02 -5.23032575e+01] [-7.29964762e-02 9.28692114e-05 9.97332194e-01 -1.72124942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:-52.31, Z:-17.22 [[ 9.63976947e-01 2.56552042e-01 7.02103710e-02 2.45954643e+02] [-2.55881036e-01 9.66530414e-01 -1.85432960e-02 -5.23116700e+01] [-7.26177794e-02 -9.01925759e-05 9.97359840e-01 -1.72150963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:-52.32, Z:-17.22 [[ 9.62459317e-01 2.62168604e-01 7.02829016e-02 2.45981472e+02] [-2.61511556e-01 9.65021944e-01 -1.85567619e-02 -5.23202981e+01] [-7.26895427e-02 -5.19662555e-04 9.97354481e-01 -1.72175464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:-52.33, Z:-17.22 [[ 9.61673607e-01 2.65047969e-01 7.02385008e-02 2.46008779e+02] [-2.64399728e-01 9.64234943e-01 -1.85407365e-02 -5.23276145e+01] [-7.26406013e-02 -7.40903541e-04 9.97357907e-01 -1.72202421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:-52.33, Z:-17.22 [[ 9.60186814e-01 2.70375595e-01 7.02731819e-02 2.46035744e+02] [-2.69741314e-01 9.62754235e-01 -1.85447070e-02 -5.23316710e+01] [-7.26698396e-02 -1.14919732e-03 9.97355390e-01 -1.72225553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:-52.34, Z:-17.23 [[ 9.59479452e-01 2.72764772e-01 7.07004985e-02 2.46061584e+02] [-2.72129683e-01 9.62079816e-01 -1.86510978e-02 -5.23370922e+01] [-7.31068850e-02 -1.34435911e-03 9.97323205e-01 -1.72251666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:-52.34, Z:-17.23 [[ 9.58922897e-01 2.74613908e-01 7.10920492e-02 2.46089122e+02] [-2.73977314e-01 9.61553406e-01 -1.87477951e-02 -5.23439295e+01] [-7.35072073e-02 -1.49991875e-03 9.97293558e-01 -1.72275672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:-52.35, Z:-17.23 [[ 9.58505409e-01 2.75933644e-01 7.16100847e-02 2.46115613e+02] [-2.75291797e-01 9.61175325e-01 -1.88790969e-02 -5.23508576e+01] [-7.40392245e-02 -1.61795245e-03 9.97254018e-01 -1.72298179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-52.36, Z:-17.23 [[ 9.58069787e-01 2.77534532e-01 7.12521308e-02 2.46142908e+02] [-2.76903986e-01 9.60714088e-01 -1.87782782e-02 -5.23557635e+01] [-7.36645465e-02 -1.73909801e-03 9.97281560e-01 -1.72323531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.17, Y:-52.36, Z:-17.24 [[ 9.58105930e-01 2.77527881e-01 7.07905534e-02 2.46169076e+02] [-2.76905845e-01 9.60716022e-01 -1.86514963e-02 -5.23615152e+01] [-7.31859291e-02 -1.73220872e-03 9.97316810e-01 -1.72350780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:-52.37, Z:-17.24 [[ 9.58154465e-01 2.77384102e-01 7.06971145e-02 2.46195953e+02] [-2.76763791e-01 9.60757557e-01 -1.86204162e-02 -5.23674450e+01] [-7.30877945e-02 -1.72516648e-03 9.97324019e-01 -1.72373630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:-52.37, Z:-17.24 [[ 9.58177911e-01 2.77163533e-01 7.12423140e-02 2.46222245e+02] [-2.76533390e-01 9.60821208e-01 -1.87587301e-02 -5.23727000e+01] [-7.36503621e-02 -1.72667774e-03 9.97282629e-01 -1.72400522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:-52.38, Z:-17.24 [[ 9.58546569e-01 2.75930159e-01 7.10705475e-02 2.46250170e+02] [-2.75300148e-01 9.61176298e-01 -1.87070046e-02 -5.23771458e+01] [-7.34731526e-02 -1.63419716e-03 9.97295856e-01 -1.72427133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:-52.38, Z:-17.25 [[ 9.58866936e-01 2.74752482e-01 7.13110981e-02 2.46277305e+02] [-2.74115347e-01 9.61513732e-01 -1.87648438e-02 -5.23834174e+01] [-7.37222875e-02 -1.55447815e-03 9.97277598e-01 -1.72451058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.30, Y:-52.39, Z:-17.25 [[ 9.59235255e-01 2.73491476e-01 7.12049060e-02 2.46303236e+02] [-2.72853156e-01 9.61873318e-01 -1.87316792e-02 -5.23891798e+01] [-7.36130537e-02 -1.46039627e-03 9.97285809e-01 -1.72474374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:-52.39, Z:-17.25 [[ 9.60210070e-01 2.70341221e-01 7.00874133e-02 2.46330927e+02] [-2.69714876e-01 9.62763819e-01 -1.84313573e-02 -5.23930270e+01] [-7.24603813e-02 -1.20564314e-03 9.97370563e-01 -1.72503838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:-52.40, Z:-17.25 [[ 9.60653262e-01 2.67565418e-01 7.45255438e-02 2.46356914e+02] [-2.67533529e-01 9.63490281e-01 -1.05966748e-02 -5.24039521e+01] [-7.46399409e-02 -9.75835145e-03 9.97162802e-01 -1.72539512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.39, Y:-52.40, Z:-17.25 [[ 9.61332448e-01 2.66700887e-01 6.86335235e-02 2.46387320e+02] [-2.65445016e-01 9.63748453e-01 -2.69789451e-02 -5.24001548e+01] [-7.33407607e-02 7.71730864e-03 9.97277081e-01 -1.72547668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.41, Y:-52.42, Z:-17.26 [[ 9.62304996e-01 2.61430566e-01 7.49876902e-02 2.46412689e+02] [-2.61240044e-01 9.65192765e-01 -1.25126149e-02 -5.24151925e+01] [-7.56487561e-02 -7.54883564e-03 9.97105953e-01 -1.72591648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.44, Y:-52.41, Z:-17.26 [[ 9.62909232e-01 2.60623290e-01 6.98663889e-02 2.46442434e+02] [-2.59476412e-01 9.65421211e-01 -2.51769110e-02 -5.24128259e+01] [-7.40121832e-02 6.11440012e-03 9.97238593e-01 -1.72595473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.47, Y:-52.42, Z:-17.26 [[ 9.63321256e-01 2.58377557e-01 7.24789359e-02 2.46467938e+02] [-2.57677235e-01 9.66043948e-01 -1.90140388e-02 -5.24227024e+01] [-7.49306382e-02 -3.59544079e-04 9.97188683e-01 -1.72624723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:-52.43, Z:-17.27 [[ 9.64141524e-01 2.54619602e-01 7.48330100e-02 2.46494329e+02] [-2.54266135e-01 9.67027474e-01 -1.43734943e-02 -5.24337430e+01] [-7.60253500e-02 -5.16941755e-03 9.97092485e-01 -1.72663431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:-52.44, Z:-17.27 [[ 9.64525417e-01 2.54363419e-01 7.06397264e-02 2.46522385e+02] [-2.53300861e-01 9.67095641e-01 -2.37633348e-02 -5.24352799e+01] [-7.43598945e-02 5.02723689e-03 9.97218799e-01 -1.72675633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.55, Y:-52.44, Z:-17.27 [[ 9.65047965e-01 2.52179734e-01 7.13288660e-02 2.46548526e+02] [-2.51485728e-01 9.67680407e-01 -1.86964703e-02 -5.24435837e+01] [-7.37384170e-02 1.04798837e-04 9.97277612e-01 -1.72706191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:-52.45, Z:-17.27 [[ 9.65053365e-01 2.52079234e-01 7.16104957e-02 2.46574930e+02] [-2.51379799e-01 9.67706592e-01 -1.87656216e-02 -5.24502887e+01] [-7.40283723e-02 1.08394220e-04 9.97256130e-01 -1.72726160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:-52.46, Z:-17.28 [[ 9.65167074e-01 2.51681443e-01 7.14770706e-02 2.46602358e+02] [-2.50984209e-01 9.67810123e-01 -1.87214349e-02 -5.24569343e+01] [-7.38880702e-02 1.29696517e-04 9.97266532e-01 -1.72752284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.63, Y:-52.46, Z:-17.28 [[ 9.65247227e-01 2.51257443e-01 7.18852449e-02 2.46628916e+02] [-2.50551462e-01 9.67920282e-01 -1.88226622e-02 -5.24637518e+01] [-7.43085205e-02 1.57569289e-04 9.97235288e-01 -1.72779975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:-52.47, Z:-17.28 [[ 9.65369891e-01 2.50894040e-01 7.15063248e-02 2.46655651e+02] [-2.50194926e-01 9.68014539e-01 -1.87176509e-02 -5.24710536e+01] [-7.39153091e-02 1.78936975e-04 9.97264506e-01 -1.72801465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28264 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:246.68, Y:-52.48, Z:-17.28 [[ 9.65488097e-01 2.50628997e-01 7.08367159e-02 2.46682387e+02] [-2.49942537e-01 9.68083193e-01 -1.85380613e-02 -5.24786228e+01] [-7.32220098e-02 1.93169067e-04 9.97315647e-01 -1.72826800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.71, Y:-52.49, Z:-17.28 [[ 9.65388340e-01 2.51041635e-01 7.07350792e-02 2.46708810e+02] [-2.50358657e-01 9.67976277e-01 -1.85059393e-02 -5.24875345e+01] [-7.31156399e-02 1.56278610e-04 9.97323457e-01 -1.72849820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-52.50, Z:-17.29 [[ 9.65420774e-01 2.51201166e-01 6.97187498e-02 2.46735847e+02] [-2.50538518e-01 9.67934892e-01 -1.82344544e-02 -5.24955616e+01] [-7.20637268e-02 1.36688840e-04 9.97400020e-01 -1.72877117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.76, Y:-52.50, Z:-17.29 [[ 9.65217049e-01 2.52118063e-01 6.92281060e-02 2.46762754e+02] [-2.51467375e-01 9.67696481e-01 -1.81019631e-02 -5.25019374e+01] [-7.15556264e-02 6.37133002e-05 9.97436609e-01 -1.72912017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.79, Y:-52.52, Z:-17.29 [[ 9.65110265e-01 2.52032372e-01 7.10060585e-02 2.46788149e+02] [-2.52470491e-01 9.67600298e-01 -2.88335475e-03 -5.25172011e+01] [-6.94321821e-02 -1.51441792e-02 9.97471717e-01 -1.72866644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:-52.51, Z:-17.29 [[ 9.63623827e-01 2.58449860e-01 6.80646087e-02 2.46820164e+02] [-2.56711850e-01 9.65914070e-01 -3.33021902e-02 -5.25074537e+01] [-7.43515095e-02 1.46177924e-02 9.97124954e-01 -1.72936569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:-52.52, Z:-17.30 [[ 9.63089266e-01 2.59095075e-01 7.29986800e-02 2.46844523e+02] [-2.58392357e-01 9.65851698e-01 -1.90758514e-02 -5.25228163e+01] [-7.54483581e-02 -4.90553271e-04 9.97149590e-01 -1.72969395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.87, Y:-52.53, Z:-17.30 [[ 9.62595944e-01 2.60829743e-01 7.33273111e-02 2.46870505e+02] [-2.60126108e-01 9.65384609e-01 -1.91563315e-02 -5.25296083e+01] [-7.57855985e-02 -6.34541115e-04 9.97123934e-01 -1.72993204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:-52.54, Z:-17.30 [[ 9.62018288e-01 2.63515309e-01 7.12775943e-02 2.46896330e+02] [-2.62858256e-01 9.64654859e-01 -1.86155775e-02 -5.25371623e+01] [-7.36637674e-02 -8.27378094e-04 9.97282791e-01 -1.73026334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:-52.55, Z:-17.30 [[ 9.62025861e-01 2.63282225e-01 7.20327235e-02 2.46921176e+02] [-2.63869915e-01 9.64557255e-01 -1.40350537e-03 -5.25525497e+01] [-6.98492041e-02 -1.76570601e-02 9.97401282e-01 -1.72983933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:-52.55, Z:-17.30 [[ 9.61654792e-01 2.65646637e-01 6.82050253e-02 2.46950454e+02] [-2.65071752e-01 9.64069670e-01 -1.75111000e-02 -5.25485832e+01] [-7.04061610e-02 -1.23959233e-03 9.97517637e-01 -1.73012426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:-52.54, Z:-17.31 [[ 9.61313463e-01 2.67025774e-01 6.76288513e-02 2.46980358e+02] [-2.65242716e-01 9.63572615e-01 -3.42653979e-02 -5.25449468e+01] [-7.43150535e-02 1.50017281e-02 9.97121969e-01 -1.73115931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:247.01, Y:-52.56, Z:-17.31 [[ 9.61734931e-01 2.64571311e-01 7.11894946e-02 2.47005147e+02] [-2.63920129e-01 9.64365681e-01 -1.85741556e-02 -5.25601425e+01] [-7.35668941e-02 -9.24926317e-04 9.97289856e-01 -1.73147803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-52.57, Z:-17.32 [[ 9.61892558e-01 2.62720440e-01 7.57672542e-02 2.47030909e+02] [-2.62560333e-01 9.64837873e-01 -1.22453922e-02 -5.25712333e+01] [-7.63202312e-02 -8.11472391e-03 9.97050337e-01 -1.73190175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:-52.57, Z:-17.32 [[ 9.62223958e-01 2.61693688e-01 7.51097104e-02 2.47058217e+02] [-2.61037628e-01 9.65149462e-01 -1.85976283e-02 -5.25749514e+01] [-7.73589785e-02 -1.71137714e-03 9.97001835e-01 -1.73212987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:-52.58, Z:-17.32 [[ 9.63750629e-01 2.57394025e-01 7.02356094e-02 2.47086627e+02] [-2.56104038e-01 9.66273564e-01 -2.69466520e-02 -5.25786851e+01] [-7.48027198e-02 7.98222967e-03 9.97166404e-01 -1.73225241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.11, Y:-52.60, Z:-17.32 [[ 9.64945324e-01 2.52004854e-01 7.33080806e-02 2.47109814e+02] [-2.52668270e-01 9.67552940e-01 -2.31513741e-04 -5.26014448e+01] [-7.09877915e-02 -1.82992278e-02 9.97309316e-01 -1.73172480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.14, Y:-52.59, Z:-17.33 [[ 9.65164612e-01 2.52798174e-01 6.74563190e-02 2.47142820e+02] [-2.50837884e-01 9.67350525e-01 -3.62397103e-02 -5.25895239e+01] [-7.44152382e-02 1.80566856e-02 9.97063854e-01 -1.73271365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:247.17, Y:-52.61, Z:-17.33 [[ 9.66363306e-01 2.46804130e-01 7.23165381e-02 2.47165981e+02] [-2.46084826e-01 9.69065301e-01 -1.88334893e-02 -5.26094303e+01] [-7.47276307e-02 4.03990320e-04 9.97203900e-01 -1.73299084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:-52.62, Z:-17.33 [[ 9.66564700e-01 2.45678679e-01 7.34484039e-02 2.47193022e+02] [-2.44933785e-01 9.69351197e-01 -1.91232296e-02 -5.26188919e+01] [-7.58954680e-02 4.93843083e-04 9.97115657e-01 -1.73330043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:247.22, Y:-52.63, Z:-17.34 [[ 9.66856050e-01 2.44776375e-01 7.26216522e-02 2.47219056e+02] [-2.44045905e-01 9.69579403e-01 -1.89044356e-02 -5.26268415e+01] [-7.50398174e-02 5.54851135e-04 9.97180384e-01 -1.73357036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.24, Y:-52.64, Z:-17.34 [[ 9.66638574e-01 2.43823193e-01 7.84864239e-02 2.47243328e+02] [-2.43799676e-01 9.69773753e-01 -1.00292710e-02 -5.26408936e+01] [-7.85594427e-02 -9.44028445e-03 9.96864733e-01 -1.73398569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.27, Y:-52.64, Z:-17.34 [[ 9.66640386e-01 2.46445879e-01 6.97910633e-02 2.47273782e+02] [-2.45017970e-01 9.69100591e-01 -2.84647054e-02 -5.26394548e+01] [-7.46495700e-02 1.04150692e-02 9.97155438e-01 -1.73406103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.30, Y:-52.66, Z:-17.34 [[ 9.66945326e-01 2.44145406e-01 7.35510462e-02 2.47296047e+02] [-2.44939451e-01 9.69536636e-01 1.83738642e-03 -5.26641768e+01] [-7.08618445e-02 -1.97922051e-02 9.97289761e-01 -1.73354507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:247.33, Y:-52.65, Z:-17.35 [[ 9.66360579e-01 2.48412932e-01 6.66201659e-02 2.47329680e+02] [-2.46320246e-01 9.68439094e-01 -3.81058669e-02 -5.26497982e+01] [-7.39835633e-02 2.04141120e-02 9.97050498e-01 -1.73450879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:-52.67, Z:-17.35 [[ 9.66093813e-01 2.47360131e-01 7.39980378e-02 2.47352046e+02] [-2.46611239e-01 9.68923554e-01 -1.92365171e-02 -5.26717174e+01] [-7.64567891e-02 3.35532350e-04 9.97072839e-01 -1.73490059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:247.38, Y:-52.68, Z:-17.35 [[ 9.66145837e-01 2.47512504e-01 7.27995982e-02 2.47379412e+02] [-2.46788493e-01 9.68884648e-01 -1.89203000e-02 -5.26809963e+01] [-7.52174240e-02 3.13665899e-04 9.97167108e-01 -1.73508135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:-52.70, Z:-17.36 [[ 9.65715400e-01 2.47212712e-01 7.92441868e-02 2.47401820e+02] [-2.47223203e-01 9.68908655e-01 -9.83393512e-03 -5.27002675e+01] [-7.92114522e-02 -1.00942191e-02 9.96806728e-01 -1.73567489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:-52.70, Z:-17.36 [[ 9.65683858e-01 2.48114060e-01 7.67730448e-02 2.47431602e+02] [-2.47324137e-01 9.68730819e-01 -1.97831170e-02 -5.27016195e+01] [-7.92808840e-02 1.16409716e-04 9.96852310e-01 -1.73592936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:-52.71, Z:-17.36 [[ 9.65909493e-01 2.49026371e-01 7.07440258e-02 2.47460925e+02] [-2.47569767e-01 9.68441867e-01 -2.88020837e-02 -5.27056518e+01] [-7.56839548e-02 1.03061241e-02 9.97078594e-01 -1.73600184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.49, Y:-52.72, Z:-17.36 [[ 9.65844185e-01 2.48703362e-01 7.27437228e-02 2.47486055e+02] [-2.47984654e-01 9.68579679e-01 -1.88949043e-02 -5.27210684e+01] [-7.51573179e-02 2.10206472e-04 9.97171667e-01 -1.73632645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:-52.74, Z:-17.36 [[ 9.66050550e-01 2.47524587e-01 7.40129227e-02 2.47512460e+02] [-2.48261776e-01 9.68692662e-01 7.86003609e-04 -5.27417950e+01] [-7.15012199e-02 -1.91338989e-02 9.97256973e-01 -1.73567661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:-52.73, Z:-17.37 [[ 9.65002552e-01 2.53307718e-01 6.78621814e-02 2.47546156e+02] [-2.51246926e-01 9.67196556e-01 -3.74940512e-02 -5.27333979e+01] [-7.51336007e-02 1.91316907e-02 9.96989930e-01 -1.73684812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:-52.75, Z:-17.37 [[ 9.64805728e-01 2.52713675e-01 7.27028564e-02 2.47570151e+02] [-2.52006975e-01 9.67541104e-01 -1.88863971e-02 -5.27544702e+01] [-7.51158528e-02 -9.99228493e-05 9.97174808e-01 -1.73719373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.60, Y:-52.77, Z:-17.37 [[ 9.64311982e-01 2.55007857e-01 7.12277681e-02 2.47596040e+02] [-2.54335998e-01 9.66938942e-01 -1.85008858e-02 -5.27672295e+01] [-7.35907740e-02 -2.75159680e-04 9.97288485e-01 -1.73738333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:-52.78, Z:-17.38 [[ 9.63931034e-01 2.56260188e-01 7.18865635e-02 2.47624020e+02] [-2.55579688e-01 9.66607766e-01 -1.86668275e-02 -5.27773325e+01] [-7.42696752e-02 -3.79211195e-04 9.97238122e-01 -1.73770000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.65, Y:-52.79, Z:-17.38 [[ 9.63590018e-01 2.57671340e-01 7.14125834e-02 2.47652945e+02] [-2.57003839e-01 9.66232500e-01 -1.85414072e-02 -5.27860611e+01] [-7.37787482e-02 -4.86993167e-04 9.97274515e-01 -1.73790540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.68, Y:-52.79, Z:-17.38 [[ 9.63102797e-01 2.59329531e-01 7.19805356e-02 2.47680289e+02] [-2.58655925e-01 9.65788700e-01 -1.86895752e-02 -5.27943543e+01] [-7.43647467e-02 -6.18209892e-04 9.97230917e-01 -1.73821335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.71, Y:-52.80, Z:-17.38 [[ 9.62081148e-01 2.63102115e-01 7.19523519e-02 2.47708264e+02] [-2.62439790e-01 9.64767560e-01 -1.86791827e-02 -5.28044364e+01] [-7.43318274e-02 -9.12270563e-04 9.97233146e-01 -1.73847515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:-52.81, Z:-17.39 [[ 9.61346138e-01 2.65524705e-01 7.28713481e-02 2.47735282e+02] [-2.64852419e-01 9.64103411e-01 -1.89158471e-02 -5.28131380e+01] [-7.52781400e-02 -1.11547631e-03 9.97161951e-01 -1.73870519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.76, Y:-52.83, Z:-17.38 [[ 9.60607536e-01 2.67778426e-01 7.43496859e-02 2.47760553e+02] [-2.67857634e-01 9.63415619e-01 -9.09023740e-03 -5.28267183e+01] [-7.40638182e-02 -1.11829804e-02 9.97190800e-01 -1.73839359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:-52.82, Z:-17.39 [[ 9.59661709e-01 2.72089695e-01 7.08279761e-02 2.47791924e+02] [-2.70733424e-01 9.62238963e-01 -2.82770415e-02 -5.28236135e+01] [-7.58473299e-02 7.96089352e-03 9.97087663e-01 -1.73916228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-52.84, Z:-17.39 [[ 9.58150755e-01 2.76943459e-01 7.24530940e-02 2.47817457e+02] [-2.76311959e-01 9.60884120e-01 -1.87991919e-02 -5.28350896e+01] [-7.48253407e-02 -2.00719639e-03 9.97194635e-01 -1.73937339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:-52.84, Z:-17.40 [[ 9.57552701e-01 2.79001602e-01 7.24633063e-02 2.47846092e+02] [-2.78376172e-01 9.60288177e-01 -1.87968930e-02 -5.28406126e+01] [-7.48300196e-02 -2.17304220e-03 9.97193936e-01 -1.73966627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.87, Y:-52.84, Z:-17.40 [[ 9.56856283e-01 2.81326616e-01 7.26731690e-02 2.47873702e+02] [-2.80704504e-01 9.59609161e-01 -1.88477975e-02 -5.28444952e+01] [-7.50402258e-02 -2.36505245e-03 9.97177703e-01 -1.73994610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.90, Y:-52.85, Z:-17.40 [[ 9.56829178e-01 2.81246004e-01 7.33390055e-02 2.47902162e+02] [-2.80612568e-01 9.59632740e-01 -1.90155393e-02 -5.28497431e+01] [-7.57265552e-02 -2.38522383e-03 9.97125769e-01 -1.74018256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:-52.86, Z:-17.40 [[ 9.57006873e-01 2.80563408e-01 7.36343655e-02 2.47930459e+02] [-2.79923131e-01 9.59832630e-01 -1.90882844e-02 -5.28555985e+01] [-7.60321409e-02 -2.34434272e-03 9.97102611e-01 -1.74044103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:-52.86, Z:-17.41 [[ 9.58293365e-01 2.76397758e-01 7.26505734e-02 2.47956931e+02] [-2.75762793e-01 9.61041268e-01 -1.88298217e-02 -5.28647887e+01] [-7.50247197e-02 -1.98983182e-03 9.97179689e-01 -1.74082593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:247.98, Y:-52.88, Z:-17.40 [[ 9.59437058e-01 2.72163490e-01 7.35361561e-02 2.47981192e+02] [-2.72666878e-01 9.62102850e-01 -3.29853417e-03 -5.28817178e+01] [-7.16470859e-02 -1.68861382e-02 9.97287097e-01 -1.74044058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:-52.87, Z:-17.41 [[ 9.60054318e-01 2.71235474e-01 6.87533593e-02 2.48013022e+02] [-2.69515309e-01 9.62418556e-01 -3.33469767e-02 -5.28713104e+01] [-7.52143918e-02 1.34848261e-02 9.97076203e-01 -1.74134378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:-52.89, Z:-17.42 [[ 9.61132341e-01 2.66398888e-01 7.25000447e-02 2.48039154e+02] [-2.65739168e-01 9.63862099e-01 -1.87763032e-02 -5.28858655e+01] [-7.48820316e-02 -1.21958931e-03 9.97191654e-01 -1.74158793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:-52.90, Z:-17.41 [[ 9.63069482e-01 2.58579760e-01 7.50578497e-02 2.48065982e+02] [-2.59274819e-01 9.65803457e-01 -5.00418458e-04 -5.29018462e+01] [-7.26205288e-02 -1.89786727e-02 9.97179056e-01 -1.74104008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:-52.89, Z:-17.42 [[ 9.63431802e-01 2.58968659e-01 6.88069470e-02 2.48100315e+02] [-2.56978527e-01 9.65727382e-01 -3.65056174e-02 -5.28888969e+01] [-7.59025636e-02 1.74887649e-02 9.96961857e-01 -1.74209837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:248.12, Y:-52.91, Z:-17.42 [[ 9.64826436e-01 2.52876409e-01 7.18572828e-02 2.48124874e+02] [-2.52191216e-01 9.67498575e-01 -1.86037306e-02 -5.29070942e+01] [-7.42262633e-02 -1.72404450e-04 9.97241411e-01 -1.74240954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.15, Y:-52.92, Z:-17.43 [[ 9.65336704e-01 2.51145282e-01 7.10710587e-02 2.48153061e+02] [-2.50470542e-01 9.67949402e-01 -1.83973447e-02 -5.29160155e+01] [-7.34135951e-02 -4.15744935e-05 9.97301580e-01 -1.74265929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:248.18, Y:-52.92, Z:-17.43 [[ 9.65671202e-01 2.49882101e-01 7.09793252e-02 2.48180631e+02] [-2.49205809e-01 9.68276269e-01 -1.83720412e-02 -5.29240275e+01] [-7.33184404e-02 5.28909655e-05 9.97308580e-01 -1.74291628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.21, Y:-52.94, Z:-17.43 [[ 9.65983218e-01 2.47781299e-01 7.40327628e-02 2.48206247e+02] [-2.48283206e-01 9.68684284e-01 -2.49133512e-03 -5.29408809e+01] [-7.23316801e-02 -1.59745038e-02 9.97252698e-01 -1.74260255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:-52.93, Z:-17.44 [[ 9.66017071e-01 2.49522995e-01 6.74484555e-02 2.48240576e+02] [-2.47728597e-01 9.68235903e-01 -3.39083919e-02 -5.29296708e+01] [-7.37669397e-02 1.60471742e-02 9.97146392e-01 -1.74350416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:-52.95, Z:-17.44 [[ 9.66192761e-01 2.47742748e-01 7.13798297e-02 2.48266802e+02] [-2.47052623e-01 9.68825826e-01 -1.84802535e-02 -5.29466402e+01] [-7.37329713e-02 2.20913009e-04 9.97277995e-01 -1.74382756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-52.96, Z:-17.44 [[ 9.66118176e-01 2.46775975e-01 7.56127552e-02 2.48294686e+02] [-2.46660194e-01 9.69039448e-01 -1.10134695e-02 -5.29603289e+01] [-7.59896022e-02 -8.01034380e-03 9.97076434e-01 -1.74424428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.32, Y:-52.97, Z:-17.44 [[ 9.66417244e-01 2.46036140e-01 7.41884695e-02 2.48323510e+02] [-2.46359292e-01 9.69166148e-01 -4.90682741e-03 -5.29737199e+01] [-7.31082100e-02 -1.35349762e-02 9.97232167e-01 -1.74373631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:-52.96, Z:-17.45 [[ 9.66187740e-01 2.49174801e-01 6.62809944e-02 2.48359087e+02] [-2.46984466e-01 9.68212395e-01 -3.95402599e-02 -5.29630155e+01] [-7.40265167e-02 2.18329383e-02 9.97017250e-01 -1.74485968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.39, Y:-52.99, Z:-17.45 [[ 9.66210378e-01 2.47605148e-01 7.16184029e-02 2.48385082e+02] [-2.46907887e-01 9.68860993e-01 -1.85707471e-02 -5.29850132e+01] [-7.39864896e-02 2.60100103e-04 9.97259210e-01 -1.74516631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:-53.00, Z:-17.45 [[ 9.65859968e-01 2.48908709e-01 7.18260144e-02 2.48413208e+02] [-2.48211009e-01 9.68526938e-01 -1.86243457e-02 -5.29955191e+01] [-7.42011916e-02 1.60502481e-04 9.97243279e-01 -1.74542225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-53.00, Z:-17.46 [[ 9.65587869e-01 2.49704293e-01 7.27174966e-02 2.48441792e+02] [-2.48991275e-01 9.68322134e-01 -1.88570794e-02 -5.30032349e+01] [-7.51226552e-02 1.02144969e-04 9.97174296e-01 -1.74566075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:-53.01, Z:-17.46 [[ 9.65213562e-01 2.50924599e-01 7.34821476e-02 2.48471711e+02] [-2.50200214e-01 9.68006635e-01 -1.90527520e-02 -5.30116830e+01] [-7.59120106e-02 4.72556921e-06 9.97114520e-01 -1.74592004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-53.03, Z:-17.46 [[ 9.64435349e-01 2.53246241e-01 7.57020429e-02 2.48499198e+02] [-2.53500847e-01 9.67314081e-01 -6.38658043e-03 -5.30283477e+01] [-7.48450295e-02 -1.30310881e-02 9.97110030e-01 -1.74581032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:248.53, Y:-53.02, Z:-17.46 [[ 9.63875657e-01 2.57458120e-01 6.82571253e-02 2.48534019e+02] [-2.55903774e-01 9.66212622e-01 -3.07640710e-02 -5.30229854e+01] [-7.38713558e-02 1.21854832e-02 9.97193330e-01 -1.74642142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:248.55, Y:-53.06, Z:-17.46 [[ 9.63276409e-01 2.55598972e-01 8.22661851e-02 2.48554782e+02] [-2.57257146e-01 9.66290715e-01 1.00506309e-02 -5.30561216e+01] [-7.69241199e-02 -3.08450996e-02 9.96559712e-01 -1.74641412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:-53.04, Z:-17.47 [[ 9.62250638e-01 2.63265450e-01 6.90290741e-02 2.48589150e+02] [-2.61427613e-01 9.64603067e-01 -3.45908427e-02 -5.30396438e+01] [-7.56922304e-02 1.52389544e-02 9.97014774e-01 -1.74687606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:-53.05, Z:-17.47 [[ 9.62020141e-01 2.64251110e-01 6.84733433e-02 2.48618517e+02] [-2.62569651e-01 9.64360323e-01 -3.26549423e-02 -5.30484026e+01] [-7.46620802e-02 1.34356904e-02 9.97118376e-01 -1.74734559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.64, Y:-53.08, Z:-17.47 [[ 9.61776625e-01 2.63253006e-01 7.53895135e-02 2.48644134e+02] [-2.63991002e-01 9.64525125e-01 -1.82573276e-04 -5.30755264e+01] [-7.27631430e-02 -1.97265585e-02 9.97154145e-01 -1.74684686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.68, Y:-53.07, Z:-17.48 [[ 9.61050900e-01 2.67174625e-01 7.07028049e-02 2.48678777e+02] [-2.65987818e-01 9.63629072e-01 -2.58745714e-02 -5.30697075e+01] [-7.50443072e-02 6.06069533e-03 9.97161782e-01 -1.74762587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.71, Y:-53.08, Z:-17.48 [[ 9.60745808e-01 2.68496505e-01 6.98363743e-02 2.48709911e+02] [-2.67040920e-01 9.63231117e-01 -2.95797799e-02 -5.30762705e+01] [-7.52106364e-02 9.76947994e-03 9.97119811e-01 -1.74815869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.74, Y:-53.10, Z:-17.48 [[ 9.60426384e-01 2.67896149e-01 7.62418124e-02 2.48735125e+02] [-2.68763203e-01 9.63205587e-01 1.15689572e-03 -5.31017901e+01] [-7.31266117e-02 -2.16021069e-02 9.97088686e-01 -1.74775507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:-53.09, Z:-17.49 [[ 9.59929241e-01 2.72100481e-01 6.70610289e-02 2.48770420e+02] [-2.70047443e-01 9.62090629e-01 -3.81575715e-02 -5.30861825e+01] [-7.49014810e-02 1.85189092e-02 9.97018966e-01 -1.74881366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:-53.10, Z:-17.49 [[ 9.59892716e-01 2.71010905e-01 7.18266148e-02 2.48795849e+02] [-2.70371116e-01 9.62575112e-01 -1.86711860e-02 -5.31042543e+01] [-7.41986068e-02 -1.49750650e-03 9.97242360e-01 -1.74910643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:-53.11, Z:-17.49 [[ 9.59930206e-01 2.70872005e-01 7.18495411e-02 2.48822680e+02] [-2.70231236e-01 9.62614228e-01 -1.86795910e-02 -5.31101671e+01] [-7.42231688e-02 -1.48488666e-03 9.97240551e-01 -1.74939312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:-53.12, Z:-17.50 [[ 9.60091391e-01 2.70392429e-01 7.15014276e-02 2.48851987e+02] [-2.69756912e-01 9.62749108e-01 -1.85839786e-02 -5.31164919e+01] [-7.38629027e-02 -1.44568648e-03 9.97267357e-01 -1.74966518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:-53.12, Z:-17.50 [[ 9.60441282e-01 2.69204725e-01 7.12836551e-02 2.48880514e+02] [-2.68569928e-01 9.63082026e-01 -1.85257823e-02 -5.31214720e+01] [-7.36392351e-02 -1.35172005e-03 9.97284030e-01 -1.74995670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.91, Y:-53.14, Z:-17.49 [[ 9.60859103e-01 2.66545282e-01 7.55208331e-02 2.48906055e+02] [-2.67424576e-01 9.63577479e-01 1.59303754e-03 -5.31391261e+01] [-7.23455574e-02 -2.17268114e-02 9.97142952e-01 -1.74943735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.94, Y:-53.12, Z:-17.51 [[ 9.60912826e-01 2.68598322e-01 6.70930852e-02 2.48941339e+02] [-2.66562885e-01 9.63075607e-01 -3.78101096e-02 -5.31230700e+01] [-7.47714457e-02 1.84476929e-02 9.97030046e-01 -1.75050703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.97, Y:-53.14, Z:-17.51 [[ 9.62045891e-01 2.63066686e-01 7.25508236e-02 2.48967331e+02] [-2.62391697e-01 9.64777235e-01 -1.88543088e-02 -5.31414248e+01] [-7.49553235e-02 -8.98023429e-04 9.97186489e-01 -1.75083338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:249.00, Y:-53.15, Z:-17.51 [[ 9.62579637e-01 2.61079415e-01 7.26497212e-02 2.48996717e+02] [-2.60397016e-01 9.65317038e-01 -1.88788353e-02 -5.31487422e+01] [-7.50588890e-02 -7.45388211e-04 9.97178824e-01 -1.75093571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:-53.16, Z:-17.51 [[ 9.62937270e-01 2.58748731e-01 7.61636980e-02 2.49023835e+02] [-2.58375859e-01 9.65929851e-01 -1.48808177e-02 -5.31585083e+01] [-7.74191821e-02 -5.34956698e-03 9.96984279e-01 -1.75135696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:-53.17, Z:-17.51 [[ 9.63788374e-01 2.55213464e-01 7.73179023e-02 2.49053261e+02] [-2.55739306e-01 9.66740520e-01 -3.18978159e-03 -5.31703435e+01] [-7.55604243e-02 -1.66989523e-02 9.97001388e-01 -1.75090258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.09, Y:-53.16, Z:-17.52 [[ 9.63828553e-01 2.57327901e-01 6.94036928e-02 2.49089970e+02] [-2.55094436e-01 9.66109985e-01 -3.94756232e-02 -5.31563678e+01] [-7.72097799e-02 2.03432369e-02 9.96807305e-01 -1.75189637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:-53.18, Z:-17.52 [[ 9.64042512e-01 2.53925748e-01 7.83820803e-02 2.49114392e+02] [-2.53965379e-01 9.67165375e-01 -9.62936226e-03 -5.31807179e+01] [-7.82535770e-02 -1.06232201e-02 9.96876886e-01 -1.75209670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:249.15, Y:-53.19, Z:-17.52 [[ 9.64363250e-01 2.54072157e-01 7.38299441e-02 2.49147596e+02] [-2.53787813e-01 9.67167582e-01 -1.33646843e-02 -5.31851656e+01] [-7.48015226e-02 -5.84872968e-03 9.97181290e-01 -1.75179001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:-53.18, Z:-17.53 [[ 9.64526012e-01 2.54209040e-01 7.11852292e-02 2.49181544e+02] [-2.52320847e-01 9.67027761e-01 -3.45180923e-02 -5.31796294e+01] [-7.76129039e-02 1.53320806e-02 9.96865670e-01 -1.75286291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:-53.20, Z:-17.53 [[ 9.64584077e-01 2.52860938e-01 7.50926407e-02 2.49209877e+02] [-2.52102481e-01 9.67502632e-01 -1.95702855e-02 -5.31965361e+01] [-7.76008883e-02 -5.38552200e-05 9.96984503e-01 -1.75317683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:-53.21, Z:-17.53 [[ 9.64754797e-01 2.51494699e-01 7.74506184e-02 2.49238168e+02] [-2.51366422e-01 9.67822955e-01 -1.15606805e-02 -5.32087047e+01] [-7.78659363e-02 -8.31526282e-03 9.96929161e-01 -1.75337211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:-53.21, Z:-17.54 [[ 9.64969128e-01 2.51154343e-01 7.58688279e-02 2.49270209e+02] [-2.50456899e-01 9.67946605e-01 -1.87272954e-02 -5.32128848e+01] [-7.81404160e-02 -9.30609457e-04 9.96941929e-01 -1.75378365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.30, Y:-53.22, Z:-17.54 [[ 9.65719092e-01 2.49549942e-01 7.14944837e-02 2.49303046e+02] [-2.48168970e-01 9.68319753e-01 -2.77311741e-02 -5.32160979e+01] [-7.61498337e-02 9.03781186e-03 9.97055425e-01 -1.75422154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:-53.23, Z:-17.55 [[ 9.65982113e-01 2.47941509e-01 7.35089424e-02 2.49332722e+02] [-2.47196577e-01 9.68774928e-01 -1.92091715e-02 -5.32291054e+01] [-7.59763713e-02 3.84557147e-04 9.97109544e-01 -1.75454547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:-53.24, Z:-17.55 [[ 9.66175843e-01 2.47170766e-01 7.35584996e-02 2.49363191e+02] [-2.46421555e-01 9.68971827e-01 -1.92357794e-02 -5.32362908e+01] [-7.60306361e-02 4.58745555e-04 9.97105377e-01 -1.75486212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:-53.24, Z:-17.55 [[ 9.66376634e-01 2.46326376e-01 7.37530920e-02 2.49394757e+02] [-2.45569800e-01 9.69186786e-01 -1.92988861e-02 -5.32432407e+01] [-7.62343469e-02 5.38460563e-04 9.97089783e-01 -1.75520588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:-53.25, Z:-17.56 [[ 9.66319511e-01 2.46535694e-01 7.38021313e-02 2.49424736e+02] [-2.45777667e-01 9.69133564e-01 -1.93254712e-02 -5.32511715e+01] [-7.62885410e-02 5.35664246e-04 9.97085639e-01 -1.75550379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.45, Y:-53.26, Z:-17.56 [[ 9.66151329e-01 2.47166175e-01 7.38951377e-02 2.49454351e+02] [-2.46406904e-01 9.68972977e-01 -1.93651006e-02 -5.32589236e+01] [-7.63887894e-02 5.01345563e-04 9.97077982e-01 -1.75583445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.48, Y:-53.27, Z:-17.56 [[ 9.66020429e-01 2.47749749e-01 7.36518395e-02 2.49484329e+02] [-2.46997119e-01 9.68823955e-01 -1.93020209e-02 -5.32660054e+01] [-7.61377373e-02 4.54354332e-04 9.97097206e-01 -1.75616781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:-53.27, Z:-17.57 [[ 9.65954518e-01 2.48249166e-01 7.28300845e-02 2.49514068e+02] [-2.47514520e-01 9.68696124e-01 -1.90887651e-02 -5.32726907e+01] [-7.52889907e-02 4.12375494e-04 9.97161671e-01 -1.75650386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31264 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:249.55, Y:-53.28, Z:-17.57 [[ 9.65520527e-01 2.50073474e-01 7.23420256e-02 2.49545222e+02] [-2.49353949e-01 9.68226826e-01 -1.89584146e-02 -5.32799487e+01] [-7.47844864e-02 2.65968689e-04 9.97199684e-01 -1.75672835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:-53.29, Z:-17.57 [[ 9.65359441e-01 2.50120350e-01 7.43031639e-02 2.49574698e+02] [-2.49360040e-01 9.68214712e-01 -1.94895216e-02 -5.32869162e+01] [-7.68161424e-02 2.86153738e-04 9.97045234e-01 -1.75719007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.60, Y:-53.30, Z:-17.57 [[ 9.65554227e-01 2.48992931e-01 7.55483621e-02 2.49603008e+02] [-2.49295997e-01 9.68411470e-01 -5.54355968e-03 -5.33011194e+01] [-7.45422075e-02 -1.34812967e-02 9.97126729e-01 -1.75677171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:-53.29, Z:-17.58 [[ 9.65345410e-01 2.51347528e-01 7.02328889e-02 2.49636509e+02] [-2.49607328e-01 9.67795314e-01 -3.26865565e-02 -5.32914347e+01] [-7.61867460e-02 1.40231735e-02 9.96994950e-01 -1.75773076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:-53.31, Z:-17.58 [[ 9.65583516e-01 2.49569168e-01 7.32373154e-02 2.49662684e+02] [-2.48827962e-01 9.68356916e-01 -1.92231526e-02 -5.33062770e+01] [-7.57173671e-02 3.38067374e-04 9.97129262e-01 -1.75809710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:-53.31, Z:-17.58 [[ 9.65631149e-01 2.49379383e-01 7.32557650e-02 2.49691403e+02] [-2.48637398e-01 9.68405803e-01 -1.92261361e-02 -5.33144800e+01] [-7.57359099e-02 3.51233099e-04 9.97127850e-01 -1.75840530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.72, Y:-53.33, Z:-17.58 [[ 9.65802253e-01 2.47392089e-01 7.76090404e-02 2.49717116e+02] [-2.48085212e-01 9.68737937e-01 -7.32453065e-04 -5.33320052e+01] [-7.53640248e-02 -1.85462505e-02 9.96983601e-01 -1.75807075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:-53.33, Z:-17.58 [[ 9.65615860e-01 2.50143901e-01 7.08098854e-02 2.49750860e+02] [-2.49175800e-01 9.68200730e-01 -2.23330739e-02 -5.33252739e+01] [-7.41446650e-02 3.92106051e-03 9.97239788e-01 -1.75827666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:-53.32, Z:-17.59 [[ 9.64968512e-01 2.52398382e-01 7.16298008e-02 2.49780984e+02] [-2.50551392e-01 9.67511583e-01 -3.38428232e-02 -5.33233074e+01] [-7.78445358e-02 1.47103125e-02 9.96856978e-01 -1.75926947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-53.34, Z:-17.60 [[ 9.64808437e-01 2.51741534e-01 7.59663135e-02 2.49806326e+02] [-2.50949630e-01 9.67794485e-01 -1.99528933e-02 -5.33382456e+01] [-7.85427512e-02 1.87001479e-04 9.96910729e-01 -1.75956358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:-53.35, Z:-17.59 [[ 9.64654271e-01 2.51876535e-01 7.74619196e-02 2.49834564e+02] [-2.52188190e-01 9.67660264e-01 -5.89321940e-03 -5.33519248e+01] [-7.64411852e-02 -1.38500620e-02 9.96977894e-01 -1.75908945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-53.34, Z:-17.60 [[ 9.64219139e-01 2.54972410e-01 7.25983614e-02 2.49866445e+02] [-2.53144477e-01 9.66847935e-01 -3.35103708e-02 -5.33409511e+01] [-7.87357957e-02 1.39334666e-02 9.96798141e-01 -1.75997056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.89, Y:-53.37, Z:-17.60 [[ 9.64169631e-01 2.51814497e-01 8.34648594e-02 2.49889977e+02] [-2.52823443e-01 9.67511153e-01 1.57373087e-03 -5.33679145e+01] [-8.03568941e-02 -2.26192166e-02 9.96509478e-01 -1.75984645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.92, Y:-53.35, Z:-17.61 [[ 9.63771457e-01 2.55079867e-01 7.79669227e-02 2.49921718e+02] [-2.53346842e-01 9.66861479e-01 -3.15318581e-02 -5.33543072e+01] [-8.34263564e-02 1.06368311e-02 9.96457175e-01 -1.76080990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.95, Y:-53.37, Z:-17.60 [[ 9.64287549e-01 2.52355502e-01 8.04128301e-02 2.49946988e+02] [-2.52467887e-01 9.67564022e-01 -8.93470392e-03 -5.33729554e+01] [-8.00592830e-02 -1.16860335e-02 9.96721600e-01 -1.76045106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:-53.36, Z:-17.61 [[ 9.64402796e-01 2.54599217e-01 7.14596775e-02 2.49981143e+02] [-2.52070248e-01 9.66772072e-01 -4.25717125e-02 -5.33588118e+01] [-7.99239452e-02 2.30434199e-02 9.96534577e-01 -1.76120390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:-53.39, Z:-17.61 [[ 9.65018730e-01 2.49614836e-01 8.01952880e-02 2.50003194e+02] [-2.50110846e-01 9.68209104e-01 -3.96165449e-03 -5.33873367e+01] [-7.86346957e-02 -1.62346405e-02 9.96771298e-01 -1.76080712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:-53.38, Z:-17.61 [[ 9.65664979e-01 2.47644489e-01 7.85070364e-02 2.50034646e+02] [-2.46985519e-01 9.68849181e-01 -1.81498899e-02 -5.33849569e+01] [-8.05561981e-02 -1.86338807e-03 9.96748327e-01 -1.76110865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:-53.38, Z:-17.62 [[ 9.65772222e-01 2.47885966e-01 7.63973986e-02 2.50066339e+02] [-2.45548579e-01 9.68609345e-01 -3.87534903e-02 -5.33808616e+01] [-8.36056806e-02 1.86677718e-02 9.96324046e-01 -1.76214322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:-53.40, Z:-17.63 [[ 9.66155699e-01 2.44344386e-01 8.26981622e-02 2.50090829e+02] [-2.43708790e-01 9.69684159e-01 -1.78509970e-02 -5.34014774e+01] [-8.45528887e-02 -2.90742650e-03 9.96414751e-01 -1.76251031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.12, Y:-53.41, Z:-17.63 [[ 9.67238460e-01 2.41180364e-01 7.92577698e-02 2.50122296e+02] [-2.39977373e-01 9.70468986e-01 -2.45113929e-02 -5.34064240e+01] [-8.28288742e-02 4.68829054e-03 9.96552757e-01 -1.76271757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.15, Y:-53.42, Z:-17.63 [[ 9.67593778e-01 2.39286312e-01 8.06495029e-02 2.50153612e+02] [-2.38350506e-01 9.70948220e-01 -2.11799397e-02 -5.34170935e+01] [-8.33745609e-02 1.27072808e-03 9.96517470e-01 -1.76316922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97264 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:250.18, Y:-53.43, Z:-17.63 [[ 9.67884741e-01 2.38549608e-01 7.93297742e-02 2.50184549e+02] [-2.37640401e-01 9.71129404e-01 -2.08499267e-02 -5.34259865e+01] [-8.20132182e-02 1.32836647e-03 9.96630357e-01 -1.76341920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.21, Y:-53.44, Z:-17.64 [[ 9.68112055e-01 2.37503967e-01 7.96926243e-02 2.50213478e+02] [-2.36581532e-01 9.71385502e-01 -2.09615024e-02 -5.34357940e+01] [-8.23906999e-02 1.43928000e-03 9.96599067e-01 -1.76387619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.24, Y:-53.46, Z:-17.63 [[ 9.68473352e-01 2.35404880e-01 8.15101819e-02 2.50241370e+02] [-2.36031085e-01 9.71743439e-01 -2.00382014e-03 -5.34559112e+01] [-7.96786936e-02 -1.72982903e-02 9.96670495e-01 -1.76333748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.27, Y:-53.45, Z:-17.64 [[ 9.68305945e-01 2.37970140e-01 7.58538760e-02 2.50274867e+02] [-2.36950883e-01 9.71265738e-01 -2.22967507e-02 -5.34537652e+01] [-7.89802317e-02 3.61643339e-03 9.96869623e-01 -1.76358842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:-53.46, Z:-17.65 [[ 9.67481003e-01 2.41506939e-01 7.51991203e-02 2.50306497e+02] [-2.39318237e-01 9.70235717e-01 -3.70058891e-02 -5.34564804e+01] [-8.18980513e-02 1.78059739e-02 9.96481639e-01 -1.76484624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:-53.48, Z:-17.65 [[ 9.66888122e-01 2.40996188e-01 8.39535460e-02 2.50332010e+02] [-2.40773424e-01 9.70495348e-01 -1.29204229e-02 -5.34799257e+01] [-8.45902985e-02 -7.72117928e-03 9.96385902e-01 -1.76529211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:-53.48, Z:-17.66 [[ 9.66723137e-01 2.43959925e-01 7.70060453e-02 2.50366859e+02] [-2.42381743e-01 9.69736628e-01 -2.93592010e-02 -5.34793640e+01] [-8.18380512e-02 9.71735943e-03 9.96598267e-01 -1.76552520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:-53.49, Z:-17.66 [[ 9.66269877e-01 2.45126966e-01 7.89638840e-02 2.50395717e+02] [-2.44242144e-01 9.69490624e-01 -2.08255779e-02 -5.34946363e+01] [-8.16596559e-02 8.36820269e-04 9.96659922e-01 -1.76589529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.42, Y:-53.52, Z:-17.66 [[ 9.64677874e-01 2.48401502e-01 8.77114180e-02 2.50420966e+02] [-2.48937398e-01 9.68506928e-01 -4.95004690e-03 -5.35150682e+01] [-8.61787150e-02 -1.70594514e-02 9.96133628e-01 -1.76645443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:-53.50, Z:-17.66 [[ 9.64299070e-01 2.53859729e-01 7.53826368e-02 2.50456828e+02] [-2.51629448e-01 9.67081308e-01 -3.78993894e-02 -5.35042124e+01] [-8.25222678e-02 1.75778546e-02 9.96434190e-01 -1.76646674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.48, Y:-53.53, Z:-17.66 [[ 9.64065011e-01 2.52785035e-01 8.17213547e-02 2.50481397e+02] [-2.53403790e-01 9.67356303e-01 -2.88137136e-03 -5.35342778e+01] [-7.97820351e-02 -1.79306717e-02 9.96651051e-01 -1.76589002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:-53.52, Z:-17.67 [[ 9.62692999e-01 2.59985581e-01 7.50312430e-02 2.50514963e+02] [-2.57740500e-01 9.65452157e-01 -3.83662238e-02 -5.35238104e+01] [-8.24137404e-02 1.75963050e-02 9.96442846e-01 -1.76709303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:250.54, Y:-53.54, Z:-17.67 [[ 9.62273340e-01 2.60399778e-01 7.88794939e-02 2.50541017e+02] [-2.59564940e-01 9.65500791e-01 -2.08389952e-02 -5.35433734e+01] [-8.15846835e-02 -4.21541641e-04 9.96666324e-01 -1.76735481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.56, Y:-53.56, Z:-17.68 [[ 9.61398979e-01 2.61075878e-01 8.68987282e-02 2.50564862e+02] [-2.61319079e-01 9.65212659e-01 -8.76706446e-03 -5.35595043e+01] [-8.61646216e-02 -1.42796488e-02 9.96178573e-01 -1.76792328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:250.59, Y:-53.56, Z:-17.68 [[ 9.60739791e-01 2.64269922e-01 8.45012550e-02 2.50594197e+02] [-2.63557911e-01 9.64442881e-01 -1.96763052e-02 -5.35615668e+01] [-8.66964895e-02 -3.36716495e-03 9.96229081e-01 -1.76819928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:250.63, Y:-53.56, Z:-17.68 [[ 9.60411853e-01 2.68158941e-01 7.54973855e-02 2.50626702e+02] [-2.66093559e-01 9.63260062e-01 -3.63905367e-02 -5.35601216e+01] [-8.24820640e-02 1.48605348e-02 9.96481748e-01 -1.76824319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.65, Y:-53.59, Z:-17.68 [[ 9.60205102e-01 2.65805398e-01 8.57534460e-02 2.50647215e+02] [-2.66876887e-01 9.63730034e-01 1.07171722e-03 -5.35903516e+01] [-8.23583032e-02 -2.39146811e-02 9.96315812e-01 -1.76785589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.68, Y:-53.57, Z:-17.69 [[ 9.59458287e-01 2.71779734e-01 7.46697508e-02 2.50683324e+02] [-2.69218637e-01 9.62134309e-01 -4.26485185e-02 -5.35748502e+01] [-8.34333321e-02 2.08169859e-02 9.96295906e-01 -1.76905851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:-53.60, Z:-17.69 [[ 9.59559046e-01 2.69500983e-01 8.13366977e-02 2.50706659e+02] [-2.69797393e-01 9.62887654e-01 -7.53214954e-03 -5.36034868e+01] [-8.03480237e-02 -1.47168868e-02 9.96658220e-01 -1.76857137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.74, Y:-53.60, Z:-17.70 [[ 9.59054583e-01 2.72805048e-01 7.61033067e-02 2.50739162e+02] [-2.70889778e-01 9.61986658e-01 -3.46467652e-02 -5.35955167e+01] [-8.26621781e-02 1.26125311e-02 9.96497812e-01 -1.76963744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.77, Y:-53.61, Z:-17.70 [[ 9.58996147e-01 2.71885134e-01 8.00303991e-02 2.50765737e+02] [-2.71063905e-01 9.62328695e-01 -2.11622811e-02 -5.36099678e+01] [-8.27692591e-02 -1.39880647e-03 9.96567756e-01 -1.76994771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:-53.62, Z:-17.70 [[ 9.59077419e-01 2.71609854e-01 7.99912002e-02 2.50793400e+02] [-2.70788629e-01 9.62406459e-01 -2.11500689e-02 -5.36173619e+01] [-8.27286149e-02 -1.37615392e-03 9.96571163e-01 -1.77021222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:-53.64, Z:-17.70 [[ 9.59621454e-01 2.69003432e-01 8.22424362e-02 2.50820593e+02] [-2.69777947e-01 9.62920962e-01 -1.75502847e-03 -5.36373320e+01] [-7.96650744e-02 -2.05030326e-02 9.96610807e-01 -1.76963851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.85, Y:-53.63, Z:-17.71 [[ 9.59604766e-01 2.70618336e-01 7.69701809e-02 2.50853455e+02] [-2.68836184e-01 9.62625894e-01 -3.28404321e-02 -5.36295281e+01] [-8.29807123e-02 1.08214655e-02 9.96492397e-01 -1.77092986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.88, Y:-53.64, Z:-17.71 [[ 9.60126333e-01 2.68832971e-01 7.67219500e-02 2.50883527e+02] [-2.67449753e-01 9.63166031e-01 -2.79611668e-02 -5.36397049e+01] [-8.14128596e-02 6.32698601e-03 9.96660381e-01 -1.77120926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.91, Y:-53.66, Z:-17.72 [[ 9.60161136e-01 2.66302487e-01 8.46969763e-02 2.50909339e+02] [-2.66413406e-01 9.63804894e-01 -1.01992015e-02 -5.36585067e+01] [-8.43474330e-02 -1.27715331e-02 9.96354555e-01 -1.77169469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:-53.65, Z:-17.72 [[ 9.60744472e-01 2.66919559e-01 7.56571737e-02 2.50943092e+02] [-2.65200362e-01 9.63658439e-01 -3.21120080e-02 -5.36531289e+01] [-8.14789970e-02 1.07871244e-02 9.96616682e-01 -1.77186629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:-53.67, Z:-17.72 [[ 9.61194089e-01 2.63375079e-01 8.20944060e-02 2.50966370e+02] [-2.63069998e-01 9.64664658e-01 -1.47062764e-02 -5.36728442e+01] [-8.30668388e-02 -7.46098926e-03 9.96516048e-01 -1.77221104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.00, Y:-53.69, Z:-17.71 [[ 9.61967026e-01 2.60764389e-01 8.13718288e-02 2.50996400e+02] [-2.61477685e-01 9.65207547e-01 -1.95209788e-03 -5.36872857e+01] [-7.90497409e-02 -1.93990636e-02 9.96681903e-01 -1.77141431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:-53.67, Z:-17.73 [[ 9.61734313e-01 2.64065952e-01 7.30498718e-02 2.51034042e+02] [-2.61342097e-01 9.64206200e-01 -4.47963402e-02 -5.36699141e+01] [-8.22643276e-02 2.39911708e-02 9.96321737e-01 -1.77281119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.06, Y:-53.69, Z:-17.73 [[ 9.62341488e-01 2.60203200e-01 7.86966054e-02 2.51059069e+02] [-2.59362366e-01 9.65553835e-01 -2.09034818e-02 -5.36920162e+01] [-8.14249620e-02 -2.94650007e-04 9.96679431e-01 -1.77311750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.09, Y:-53.70, Z:-17.73 [[ 9.62617640e-01 2.59162411e-01 7.87535687e-02 2.51088710e+02] [-2.58316444e-01 9.65833735e-01 -2.09239271e-02 -5.37017122e+01] [-8.14855489e-02 -2.01600492e-04 9.96674503e-01 -1.77343564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.12, Y:-53.71, Z:-17.74 [[ 9.62608402e-01 2.59196854e-01 7.87531221e-02 2.51119314e+02] [-2.58350865e-01 9.65824492e-01 -2.09256081e-02 -5.37098968e+01] [-8.14855459e-02 -2.02770996e-04 9.96674503e-01 -1.77375112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.15, Y:-53.72, Z:-17.74 [[ 9.62444342e-01 2.58184319e-01 8.39151134e-02 2.51145167e+02] [-2.58018393e-01 9.66052481e-01 -1.30043339e-02 -5.37244214e+01] [-8.44239186e-02 -9.13569508e-03 9.96388047e-01 -1.77410159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:-53.72, Z:-17.74 [[ 9.62959058e-01 2.58195135e-01 7.77503973e-02 2.51181113e+02] [-2.56653260e-01 9.66056785e-01 -2.93835327e-02 -5.37224264e+01] [-8.26979841e-02 8.34024607e-03 9.96539755e-01 -1.77429783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.21, Y:-53.74, Z:-17.75 [[ 9.63087233e-01 2.57204243e-01 7.94289614e-02 2.51212073e+02] [-2.56334236e-01 9.66357065e-01 -2.11372156e-02 -5.37356822e+01] [-8.21933196e-02 -3.37969744e-06 9.96616405e-01 -1.77461613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:-53.74, Z:-17.75 [[ 9.63125281e-01 2.57088385e-01 7.93426457e-02 2.51243617e+02] [-2.56218503e-01 9.66387894e-01 -2.11309500e-02 -5.37446475e+01] [-8.21082941e-02 2.26982585e-05 9.96623413e-01 -1.77495731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:-53.75, Z:-17.75 [[ 9.63083044e-01 2.56813879e-01 8.07321647e-02 2.51274540e+02] [-2.55910757e-01 9.66460877e-01 -2.15187580e-02 -5.37534941e+01] [-8.35507944e-02 6.41215543e-05 9.96503518e-01 -1.77523555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.31, Y:-53.76, Z:-17.76 [[ 9.63053837e-01 2.56818952e-01 8.10637535e-02 2.51305704e+02] [-2.55907032e-01 9.66459528e-01 -2.16234092e-02 -5.37620465e+01] [-8.38981383e-02 7.97226947e-05 9.96474333e-01 -1.77552460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:-53.78, Z:-17.75 [[ 9.63257959e-01 2.54909202e-01 8.45896215e-02 2.51333238e+02] [-2.55534659e-01 9.66793445e-01 -3.53178058e-03 -5.37799854e+01] [-8.26809750e-02 -1.82135643e-02 9.96409616e-01 -1.77511005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:-53.77, Z:-17.76 [[ 9.63053024e-01 2.58122905e-01 7.68208273e-02 2.51369083e+02] [-2.55753860e-01 9.65938885e-01 -3.93958585e-02 -5.37681312e+01] [-8.43731977e-02 1.82930775e-02 9.96266293e-01 -1.77607823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-53.80, Z:-17.76 [[ 9.63337942e-01 2.54557786e-01 8.47369094e-02 2.51394053e+02] [-2.54971424e-01 9.66929431e-01 -6.08671164e-03 -5.37958803e+01] [-8.34840315e-02 -1.57419302e-02 9.96384769e-01 -1.77581572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.43, Y:-53.80, Z:-17.76 [[ 9.63557803e-01 2.55776175e-01 7.83256532e-02 2.51428146e+02] [-2.55037166e-01 9.66735261e-01 -1.94673903e-02 -5.37961737e+01] [-8.06994655e-02 -1.21799679e-03 9.96737735e-01 -1.77575476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:-53.80, Z:-17.77 [[ 9.63405379e-01 2.55523335e-01 8.09808711e-02 2.51458199e+02] [-2.54560443e-01 9.66802599e-01 -2.21746652e-02 -5.38031840e+01] [-8.39586610e-02 7.48665308e-04 9.96468957e-01 -1.77665490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.49, Y:-53.81, Z:-17.77 [[ 9.63755264e-01 2.53964980e-01 8.17164581e-02 2.51488196e+02] [-2.53051353e-01 9.67213412e-01 -2.15227301e-02 -5.38125143e+01] [-8.45032740e-02 6.41841311e-05 9.96423200e-01 -1.77698287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:-53.82, Z:-17.77 [[ 9.63822095e-01 2.53388786e-01 8.27108938e-02 2.51517905e+02] [-2.52715412e-01 9.67360200e-01 -1.86859226e-02 -5.38231752e+01] [-8.47460301e-02 -2.89241257e-03 9.96398386e-01 -1.77730589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:-53.83, Z:-17.78 [[ 9.63809738e-01 2.54293914e-01 8.00337036e-02 2.51549528e+02] [-2.52881271e-01 9.67106765e-01 -2.74875826e-02 -5.38286820e+01] [-8.43910612e-02 6.25377519e-03 9.96413087e-01 -1.77789063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:-53.85, Z:-17.78 [[ 9.63890046e-01 2.53437732e-01 8.17636600e-02 2.51578294e+02] [-2.53046550e-01 9.67333358e-01 -1.52845627e-02 -5.38452757e+01] [-8.29664007e-02 -5.95737431e-03 9.96534538e-01 -1.77782622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:-53.85, Z:-17.79 [[ 9.63479811e-01 2.55213632e-01 8.10719198e-02 2.51609436e+02] [-2.53842752e-01 9.66869616e-01 -2.69629756e-02 -5.38484272e+01] [-8.52672949e-02 5.39876337e-03 9.96343486e-01 -1.77858830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:-53.85, Z:-17.79 [[ 9.63150922e-01 2.56867795e-01 7.97448277e-02 2.51641340e+02] [-2.54760518e-01 9.66343645e-01 -3.57356653e-02 -5.38534812e+01] [-8.62402491e-02 1.41030053e-02 9.96174545e-01 -1.77927032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.67, Y:-53.87, Z:-17.79 [[ 9.63157517e-01 2.55911164e-01 8.26865953e-02 2.51670668e+02] [-2.54945921e-01 9.66700254e-01 -2.22080387e-02 -5.38730296e+01] [-8.56164377e-02 3.09229295e-04 9.96328124e-01 -1.77939024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.70, Y:-53.88, Z:-17.80 [[ 9.62961902e-01 2.56361861e-01 8.35641806e-02 2.51701063e+02] [-2.55376070e-01 9.66580836e-01 -2.24622076e-02 -5.38821087e+01] [-8.65299888e-02 2.89958094e-04 9.96249204e-01 -1.77976766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:-53.90, Z:-17.80 [[ 9.62822814e-01 2.54379111e-01 9.09037817e-02 2.51727308e+02] [-2.55475729e-01 9.66815368e-01 4.42523689e-04 -5.39047115e+01] [-8.77746044e-02 -2.36497818e-02 9.95859582e-01 -1.77957387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.77, Y:-53.89, Z:-17.81 [[ 9.62751466e-01 2.59045296e-01 7.74928998e-02 2.51765165e+02] [-2.56137955e-01 9.65567252e-01 -4.55327281e-02 -5.38874472e+01] [-8.66196454e-02 2.39878279e-02 9.95952620e-01 -1.78051840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:-53.91, Z:-17.81 [[ 9.62684927e-01 2.57799249e-01 8.23242267e-02 2.51791537e+02] [-2.56845078e-01 9.66198485e-01 -2.21606433e-02 -5.39146713e+01] [-8.52545402e-02 1.89144824e-04 9.96359186e-01 -1.78084314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.82, Y:-53.92, Z:-17.81 [[ 9.62478013e-01 2.58838747e-01 8.14774706e-02 2.51821563e+02] [-2.57906380e-01 9.65920540e-01 -2.19501393e-02 -5.39248107e+01] [-8.43823090e-02 1.12966904e-04 9.96433446e-01 -1.78122656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:-53.93, Z:-17.82 [[ 9.62119863e-01 2.60235079e-01 8.12592935e-02 2.51852285e+02] [-2.59311314e-01 9.65545288e-01 -2.19075151e-02 -5.39343562e+01] [-8.41606319e-02 6.20127976e-06 9.96452201e-01 -1.78160014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:251.88, Y:-53.96, Z:-17.81 [[ 9.60989437e-01 2.61385057e-01 9.04276175e-02 2.51877111e+02] [-2.62732900e-01 9.64863542e-01 3.12548054e-03 -5.39577220e+01] [-8.64333574e-02 -2.67618640e-02 9.95898126e-01 -1.78139854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:-53.95, Z:-17.82 [[ 9.60472479e-01 2.66534793e-01 8.03232241e-02 2.51913927e+02] [-2.65155914e-01 9.63811380e-01 -2.75674732e-02 -5.39486457e+01] [-8.47641282e-02 5.17962143e-03 9.96387582e-01 -1.78180768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:-53.96, Z:-17.82 [[ 9.59903120e-01 2.68225944e-01 8.14913698e-02 2.51943374e+02] [-2.67257746e-01 9.63356028e-01 -2.27697242e-02 -5.39613168e+01] [-8.46126331e-02 7.75294531e-05 9.96413918e-01 -1.78209802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.98, Y:-53.96, Z:-17.83 [[ 9.58690433e-01 2.73293632e-01 7.88875429e-02 2.51976366e+02] [-2.70865903e-01 9.61777422e-01 -4.01976645e-02 -5.39608648e+01] [-8.68580234e-02 1.71691708e-02 9.96072740e-01 -1.78308238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.01, Y:-53.98, Z:-17.83 [[ 9.58440742e-01 2.72900184e-01 8.31675027e-02 2.52005249e+02] [-2.71971919e-01 9.62041790e-01 -2.25137561e-02 -5.39808193e+01] [-8.61546213e-02 -1.04112417e-03 9.96281234e-01 -1.78337525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.04, Y:-53.99, Z:-17.84 [[ 9.58453954e-01 2.73264050e-01 8.18093957e-02 2.52037124e+02] [-2.72365858e-01 9.61938499e-01 -2.21622001e-02 -5.39899689e+01] [-8.47517399e-02 -1.04063793e-03 9.96401555e-01 -1.78370746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:-54.01, Z:-17.84 [[ 9.58041203e-01 2.73323731e-01 8.63202808e-02 2.52066137e+02] [-2.73616798e-01 9.61799899e-01 -8.64883653e-03 -5.40067903e+01] [-8.53867696e-02 -1.53327371e-02 9.96229897e-01 -1.78373232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.10, Y:-54.00, Z:-17.84 [[ 9.57857195e-01 2.76296551e-01 7.85481333e-02 2.52101264e+02] [-2.74246797e-01 9.60985308e-01 -3.59990556e-02 -5.39981275e+01] [-8.54300170e-02 1.29403805e-02 9.96260136e-01 -1.78430759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.13, Y:-54.02, Z:-17.84 [[ 9.57375709e-01 2.74860601e-01 8.87885255e-02 2.52127290e+02] [-2.75242508e-01 9.61340241e-01 -8.15493427e-03 -5.40224201e+01] [-8.75974526e-02 -1.66310405e-02 9.96017116e-01 -1.78409258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:-54.02, Z:-17.85 [[ 9.57028559e-01 2.76910784e-01 8.61205846e-02 2.52161219e+02] [-2.75955192e-01 9.60894116e-01 -2.30484211e-02 -5.40223818e+01] [-8.91351194e-02 -1.70742526e-03 9.96018080e-01 -1.78460020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.19, Y:-54.02, Z:-17.85 [[ 9.56849081e-01 2.78768466e-01 8.20242556e-02 2.52194347e+02] [-2.76545896e-01 9.60267067e-01 -3.75436601e-02 -5.40225687e+01] [-8.92311799e-02 1.32401454e-02 9.95922936e-01 -1.78532035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:-54.05, Z:-17.85 [[ 9.56894872e-01 2.76436418e-01 8.90792453e-02 2.52220630e+02] [-2.76824865e-01 9.60885310e-01 -8.21065786e-03 -5.40491580e+01] [-8.78646631e-02 -1.68026137e-02 9.95990699e-01 -1.78512006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.26, Y:-54.04, Z:-17.86 [[ 9.56539689e-01 2.80201629e-01 8.07395217e-02 2.52255507e+02] [-2.77969730e-01 9.59841808e-01 -3.79016235e-02 -5.40370355e+01] [-8.81172651e-02 1.38112641e-02 9.96014356e-01 -1.78601045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.29, Y:-54.05, Z:-17.86 [[ 9.56582110e-01 2.78956441e-01 8.44628415e-02 2.52285200e+02] [-2.78012087e-01 9.60302590e-01 -2.29829354e-02 -5.40519675e+01] [-8.75211233e-02 -1.49662601e-03 9.96161540e-01 -1.78622789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.32, Y:-54.06, Z:-17.87 [[ 9.56301525e-01 2.79656643e-01 8.53203131e-02 2.52317601e+02] [-2.78694446e-01 9.60098808e-01 -2.32311088e-02 -5.40591984e+01] [-8.84126648e-02 -1.56235263e-03 9.96082707e-01 -1.78661044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:-54.07, Z:-17.87 [[ 9.56169720e-01 2.79989092e-01 8.57063257e-02 2.52348068e+02] [-2.79017742e-01 9.60001879e-01 -2.33557697e-02 -5.40671097e+01] [-8.88175945e-02 -1.58150575e-03 9.96046652e-01 -1.78693937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:-54.08, Z:-17.87 [[ 9.56221892e-01 2.80193683e-01 8.44463930e-02 2.52378398e+02] [-2.79250657e-01 9.59942209e-01 -2.30223119e-02 -5.40758893e+01] [-8.75143634e-02 -1.56727204e-03 9.96162025e-01 -1.78724688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.41, Y:-54.09, Z:-17.87 [[ 9.56328742e-01 2.78929907e-01 8.73695826e-02 2.52406972e+02] [-2.79212056e-01 9.60185168e-01 -9.22339900e-03 -5.40911978e+01] [-8.64636591e-02 -1.55740393e-02 9.96133267e-01 -1.78727094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.44, Y:-54.08, Z:-17.88 [[ 9.56187268e-01 2.81847865e-01 7.91687347e-02 2.52442584e+02] [-2.79794409e-01 9.59378621e-01 -3.61628224e-02 -5.40827248e+01] [-8.61452059e-02 1.24274610e-02 9.96205080e-01 -1.78795648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.47, Y:-54.10, Z:-17.88 [[ 9.56522131e-01 2.79860598e-01 8.21185653e-02 2.52471879e+02] [-2.78964538e-01 9.60039540e-01 -2.24247087e-02 -5.40973127e+01] [-8.51128620e-02 -1.45843753e-03 9.96370249e-01 -1.78824181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.50, Y:-54.11, Z:-17.88 [[ 9.56525768e-01 2.77616892e-01 8.93717944e-02 2.52499256e+02] [-2.78287062e-01 9.60484283e-01 -5.12371142e-03 -5.41130073e+01] [-8.72626328e-02 -1.99700521e-02 9.95985155e-01 -1.78833894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.53, Y:-54.10, Z:-17.89 [[ 9.56545114e-01 2.80906106e-01 7.81869871e-02 2.52534338e+02] [-2.78478803e-01 9.59583379e-01 -4.06115177e-02 -5.40964577e+01] [-8.64349566e-02 1.70733302e-02 9.96111188e-01 -1.78884090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.56, Y:-54.11, Z:-17.89 [[ 9.57183297e-01 2.77080575e-01 8.38241718e-02 2.52562138e+02] [-2.76133846e-01 9.60845924e-01 -2.29174505e-02 -5.41148513e+01] [-8.68920942e-02 -1.21049010e-03 9.96216994e-01 -1.78909976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:-54.12, Z:-17.89 [[ 9.57497127e-01 2.75955460e-01 8.39513904e-02 2.52592258e+02] [-2.75001558e-01 9.61169783e-01 -2.29519406e-02 -5.41240262e+01] [-8.70252530e-02 -1.11034601e-03 9.96205487e-01 -1.78945526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.62, Y:-54.13, Z:-17.90 [[ 9.57847883e-01 2.75019249e-01 8.30171374e-02 2.52621818e+02] [-2.74081778e-01 9.61438200e-01 -2.27105068e-02 -5.41318307e+01] [-8.60616737e-02 -1.00027370e-03 9.96289309e-01 -1.78976586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:-54.14, Z:-17.90 [[ 9.58160908e-01 2.74288942e-01 8.18122903e-02 2.52652608e+02] [-2.73374735e-01 9.61646896e-01 -2.23942519e-02 -5.41397882e+01] [-8.48170307e-02 -9.08116474e-04 9.96396129e-01 -1.79012535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:-54.15, Z:-17.91 [[ 9.58447735e-01 2.73256718e-01 8.19066914e-02 2.52681623e+02] [-2.72335155e-01 9.61940811e-01 -2.24374453e-02 -5.41461269e+01] [-8.49205718e-02 -8.00952846e-04 9.96387402e-01 -1.79055419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.71, Y:-54.15, Z:-17.91 [[ 9.58457080e-01 2.73397063e-01 8.13269446e-02 2.52709564e+02] [-2.72488435e-01 9.61900933e-01 -2.22855969e-02 -5.41533312e+01] [-8.43212807e-02 -8.00863741e-04 9.96438297e-01 -1.79079005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.74, Y:-54.16, Z:-17.91 [[ 9.58451917e-01 2.73548133e-01 8.08785596e-02 2.52740509e+02] [-2.72650696e-01 9.61857968e-01 -2.21550548e-02 -5.41609250e+01] [-8.38541610e-02 -8.17040811e-04 9.96477703e-01 -1.79111396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.77, Y:-54.17, Z:-17.91 [[ 9.58215980e-01 2.74192192e-01 8.14909689e-02 2.52770149e+02] [-2.73281800e-01 9.61674529e-01 -2.23418459e-02 -5.41666164e+01] [-8.44937489e-02 -8.61684980e-04 9.96423637e-01 -1.79142067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:-54.17, Z:-17.92 [[ 9.58129921e-01 2.74532220e-01 8.13579404e-02 2.52798860e+02] [-2.73625868e-01 9.61577491e-01 -2.23072433e-02 -5.41732992e+01] [-8.43560212e-02 -8.88399824e-04 9.96435283e-01 -1.79175186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.83, Y:-54.18, Z:-17.92 [[ 9.57827341e-01 2.75883037e-01 8.03450989e-02 2.52829229e+02] [-2.75004151e-01 9.61190696e-01 -2.20264101e-02 -5.41820785e+01] [-8.33036745e-02 -9.97737931e-04 9.96523709e-01 -1.79206795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.86, Y:-54.19, Z:-17.92 [[ 9.57503626e-01 2.76783880e-01 8.11017224e-02 2.52857473e+02] [-2.75891305e-01 9.60931584e-01 -2.22368654e-02 -5.41887139e+01] [-8.40880125e-02 -1.08338074e-03 9.96457742e-01 -1.79239521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.89, Y:-54.19, Z:-17.93 [[ 9.57211321e-01 2.77779882e-01 8.11469333e-02 2.52887125e+02] [-2.76889950e-01 9.60644036e-01 -2.22484300e-02 -5.41935985e+01] [-8.41334837e-02 -1.17232121e-03 9.96453804e-01 -1.79267087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.92, Y:-54.20, Z:-17.93 [[ 9.56873279e-01 2.78940768e-01 8.11515662e-02 2.52916145e+02] [-2.78055080e-01 9.60307460e-01 -2.22475591e-02 -5.41982670e+01] [-8.41362056e-02 -1.27651040e-03 9.96453446e-01 -1.79300204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:-54.21, Z:-17.93 [[ 9.56669897e-01 2.79388976e-01 8.20030981e-02 2.52943311e+02] [-2.79608958e-01 9.60071565e-01 -9.02330771e-03 -5.42108783e+01] [-8.12498555e-02 -1.42964739e-02 9.96591226e-01 -1.79258311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.97, Y:-54.21, Z:-17.93 [[ 9.56322401e-01 2.81212704e-01 7.97927289e-02 2.52973717e+02] [-2.80489025e-01 9.59641077e-01 -2.03693262e-02 -5.42109621e+01] [-8.23004937e-02 -2.90134181e-03 9.96603337e-01 -1.79291754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.00, Y:-54.22, Z:-17.93 [[ 9.56313029e-01 2.81317780e-01 7.95342497e-02 2.53001836e+02] [-2.80469217e-01 9.59613666e-01 -2.18776186e-02 -5.42176727e+01] [-8.24767160e-02 -1.38505703e-03 9.96592029e-01 -1.79324508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.03, Y:-54.21, Z:-17.94 [[ 9.55839130e-01 2.83026078e-01 7.91694174e-02 2.53031297e+02] [-2.80959518e-01 9.59030617e-01 -3.63596475e-02 -5.42142464e+01] [-8.62166237e-02 1.25105725e-02 9.96197862e-01 -1.79428616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.06, Y:-54.23, Z:-17.95 [[ 9.55775753e-01 2.81987034e-01 8.35225858e-02 2.53056792e+02] [-2.81061183e-01 9.59416883e-01 -2.28879068e-02 -5.42271195e+01] [-8.65870719e-02 -1.59925039e-03 9.96243003e-01 -1.79458025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.08, Y:-54.23, Z:-17.95 [[ 9.55498017e-01 2.82808152e-01 8.39231091e-02 2.53084815e+02] [-2.81877008e-01 9.59175012e-01 -2.29923626e-02 -5.42296377e+01] [-8.69993767e-02 -1.68683795e-03 9.96206938e-01 -1.79483548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.11, Y:-54.23, Z:-17.95 [[ 9.55490222e-01 2.82767759e-01 8.41476720e-02 2.53112089e+02] [-2.81832024e-01 9.59186908e-01 -2.30474501e-02 -5.42342856e+01] [-8.72304211e-02 -1.69389553e-03 9.96186722e-01 -1.79508806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:-54.25, Z:-17.95 [[ 9.55849603e-01 2.81225812e-01 8.52266349e-02 2.53140416e+02] [-2.81418603e-01 9.59533076e-01 -9.99227482e-03 -5.42458366e+01] [-8.45878608e-02 -1.44332486e-02 9.96311485e-01 -1.79473577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:253.17, Y:-54.24, Z:-17.95 [[ 9.56042667e-01 2.81600987e-01 8.17514732e-02 2.53171550e+02] [-2.80744547e-01 9.59529730e-01 -2.20271660e-02 -5.42438288e+01] [-8.46458407e-02 -1.89236979e-03 9.96409304e-01 -1.79499294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:-54.24, Z:-17.96 [[ 9.55711830e-01 2.82719692e-01 8.17586268e-02 2.53200353e+02] [-2.80629408e-01 9.59131112e-01 -3.62580408e-02 -5.42399478e+01] [-8.86681048e-02 1.17083635e-02 9.95992410e-01 -1.79600780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:-54.26, Z:-17.96 [[ 9.56152884e-01 2.79872876e-01 8.62718732e-02 2.53225670e+02] [-2.80109476e-01 9.59920072e-01 -9.59882337e-03 -5.42608097e+01] [-8.55005530e-02 -1.49876265e-02 9.96225389e-01 -1.79565435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.26, Y:-54.25, Z:-17.97 [[ 9.56256993e-01 2.80848255e-01 8.18341111e-02 2.53256466e+02] [-2.78710674e-01 9.59673495e-01 -3.67034579e-02 -5.42480543e+01] [-8.88421294e-02 1.22898980e-02 9.95969896e-01 -1.79664159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:-54.27, Z:-17.96 [[ 9.56934199e-01 2.77066895e-01 8.66652976e-02 2.53280496e+02] [-2.77313933e-01 9.60733205e-01 -9.41760113e-03 -5.42695221e+01] [-8.58715346e-02 -1.50214699e-02 9.96192971e-01 -1.79628957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:-54.27, Z:-17.97 [[ 9.57209711e-01 2.76950704e-01 8.39516374e-02 2.53310547e+02] [-2.76139768e-01 9.60880218e-01 -2.13549807e-02 -5.42668235e+01] [-8.65817446e-02 -2.74119077e-03 9.96240979e-01 -1.79656215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:-54.26, Z:-17.98 [[ 9.57530545e-01 2.76513737e-01 8.17031731e-02 2.53339222e+02] [-2.74235747e-01 9.60906553e-01 -3.81228508e-02 -5.42608159e+01] [-8.90506064e-02 1.40978634e-02 9.95927327e-01 -1.79752647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.36, Y:-54.29, Z:-17.97 [[ 9.59528233e-01 2.68277643e-01 8.56310470e-02 2.53363547e+02] [-2.68673873e-01 9.63205184e-01 -7.07979032e-03 -5.42855872e+01] [-8.43796178e-02 -1.62135663e-02 9.96301762e-01 -1.79725090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.39, Y:-54.27, Z:-17.98 [[ 9.59826195e-01 2.68557638e-01 8.13047996e-02 2.53394752e+02] [-2.66198761e-01 9.63137554e-01 -3.87849427e-02 -5.42732736e+01] [-8.87236984e-02 1.55835670e-02 9.95934364e-01 -1.79828110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.42, Y:-54.29, Z:-17.99 [[ 9.60655592e-01 2.64293573e-01 8.53799833e-02 2.53420387e+02] [-2.63259717e-01 9.64442277e-01 -2.33541401e-02 -5.42883167e+01] [-8.85164146e-02 -4.18249879e-05 9.96074717e-01 -1.79862718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.45, Y:-54.29, Z:-17.99 [[ 9.61872198e-01 2.60158507e-01 8.43766941e-02 2.53447464e+02] [-2.59133321e-01 9.65565866e-01 -2.30755410e-02 -5.42933654e+01] [-8.74745540e-02 3.30908408e-04 9.96166699e-01 -1.79892608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.48, Y:-54.30, Z:-17.99 [[ 9.62164176e-01 2.59072525e-01 8.43891259e-02 2.53475143e+02] [-2.58043374e-01 9.65857778e-01 -2.30731477e-02 -5.43003117e+01] [-8.74855123e-02 4.24101409e-04 9.96165702e-01 -1.79925225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.50, Y:-54.32, Z:-17.99 [[ 9.62630184e-01 2.56594022e-01 8.66177666e-02 2.53501230e+02] [-2.57300122e-01 9.66326560e-01 -3.10275785e-03 -5.43185867e+01] [-8.44971975e-02 -1.92999536e-02 9.96236787e-01 -1.79860426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.53, Y:-54.30, Z:-18.00 [[ 9.61848876e-01 2.61768785e-01 7.95225981e-02 2.53534428e+02] [-2.59104548e-01 9.64920928e-01 -4.23371605e-02 -5.43008774e+01] [-8.78155662e-02 2.01172834e-02 9.95933593e-01 -1.79972408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:-54.32, Z:-18.00 [[ 9.61631952e-01 2.61015469e-01 8.44684227e-02 2.53557724e+02] [-2.59992107e-01 9.65334587e-01 -2.30919795e-02 -5.43189693e+01] [-8.75676538e-02 2.44862186e-04 9.96158545e-01 -1.80018010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:-54.33, Z:-18.01 [[ 9.61270691e-01 2.62299523e-01 8.46027092e-02 2.53584827e+02] [-2.61278363e-01 9.64986500e-01 -2.31229649e-02 -5.43263107e+01] [-8.77056149e-02 1.22571029e-04 9.96146430e-01 -1.80056533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:-54.33, Z:-18.01 [[ 9.60978064e-01 2.63447859e-01 8.43586778e-02 2.53611369e+02] [-2.62437371e-01 9.64673637e-01 -2.30521296e-02 -5.43332704e+01] [-8.74516267e-02 1.37212669e-05 9.96168767e-01 -1.80087450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:-54.35, Z:-18.00 [[ 9.60808378e-01 2.63577667e-01 8.58724334e-02 2.53636577e+02] [-2.64067363e-01 9.64486732e-01 -5.81127066e-03 -5.43481547e+01] [-8.43545438e-02 -1.70925895e-02 9.96289192e-01 -1.80037950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:253.67, Y:-54.33, Z:-18.01 [[ 9.60138838e-01 2.68191602e-01 7.87824594e-02 2.53668892e+02] [-2.65842305e-01 9.63222145e-01 -3.91275893e-02 -5.43349311e+01] [-8.63787003e-02 1.66242076e-02 9.96123665e-01 -1.80112178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:-54.37, Z:-18.01 [[ 9.59904931e-01 2.64181803e-01 9.37576623e-02 2.53687590e+02] [-2.66027258e-01 9.63936053e-01 7.53551393e-03 -5.43698130e+01] [-8.83856453e-02 -3.21754708e-02 9.95566531e-01 -1.80127374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.72, Y:-54.35, Z:-18.01 [[ 9.59391554e-01 2.71067558e-01 7.80398955e-02 2.53723174e+02] [-2.68950472e-01 9.62455698e-01 -3.66697747e-02 -5.43505932e+01] [-8.50499284e-02 1.41918054e-02 9.96275616e-01 -1.80115634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.75, Y:-54.36, Z:-18.02 [[ 9.58729225e-01 2.71290938e-01 8.50852515e-02 2.53747488e+02] [-2.69500848e-01 9.62465550e-01 -3.20836169e-02 -5.43613864e+01] [-9.05956178e-02 7.82895377e-03 9.95856988e-01 -1.80249508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.77, Y:-54.37, Z:-18.03 [[ 9.58607618e-01 2.71941207e-01 8.43766285e-02 2.53773080e+02] [-2.70333976e-01 9.62294627e-01 -3.01428734e-02 -5.43698121e+01] [-8.93922656e-02 6.08531859e-03 9.95977907e-01 -1.80272547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.80, Y:-54.38, Z:-18.03 [[ 9.58335474e-01 2.72416515e-01 8.59206721e-02 2.53799244e+02] [-2.71406846e-01 9.62179049e-01 -2.34478435e-02 -5.43814699e+01] [-8.90586504e-02 -8.48558448e-04 9.96026022e-01 -1.80297430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.83, Y:-54.39, Z:-18.04 [[ 9.57976240e-01 2.72283366e-01 9.02401897e-02 2.53825739e+02] [-2.71805919e-01 9.62187893e-01 -1.77764056e-02 -5.43918785e+01] [-9.16682375e-02 -7.49844351e-03 9.95761371e-01 -1.80351445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:-54.40, Z:-18.03 [[ 9.58108350e-01 2.72810840e-01 8.71930915e-02 2.53852132e+02] [-2.72763680e-01 9.61997417e-01 -1.26863723e-02 -5.44002693e+01] [-8.73405087e-02 -1.16281893e-02 9.96110647e-01 -1.80291604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.88, Y:-54.39, Z:-18.04 [[ 9.57386877e-01 2.77043812e-01 8.15910154e-02 2.53883126e+02] [-2.74615819e-01 9.60728477e-01 -3.98364797e-02 -5.43895579e+01] [-8.94232622e-02 1.57327394e-02 9.95869450e-01 -1.80390177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:253.91, Y:-54.40, Z:-18.04 [[ 9.57418284e-01 2.75810240e-01 8.53167060e-02 2.53906578e+02] [-2.74830071e-01 9.61211385e-01 -2.32616541e-02 -5.44046160e+01] [-8.84231915e-02 -1.17646344e-03 9.96082303e-01 -1.80417242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.93, Y:-54.41, Z:-18.05 [[ 9.57089331e-01 2.76613940e-01 8.63987255e-02 2.53933092e+02] [-2.75613006e-01 9.60980278e-01 -2.35451850e-02 -5.44113859e+01] [-8.95403977e-02 -1.27776711e-03 9.95982372e-01 -1.80479291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:-54.42, Z:-18.05 [[ 9.56829699e-01 2.77445891e-01 8.66066036e-02 2.53959596e+02] [-2.76444085e-01 9.60740295e-01 -2.35956151e-02 -5.44183105e+01] [-8.97529604e-02 -1.36489805e-03 9.95963123e-01 -1.80513467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.99, Y:-54.42, Z:-18.05 [[ 9.56728777e-01 2.77766899e-01 8.66925423e-02 2.53985915e+02] [-2.76764998e-01 9.60647481e-01 -2.36125627e-02 -5.44243986e+01] [-8.98397607e-02 -1.40264311e-03 9.95955245e-01 -1.80538747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:-54.43, Z:-18.06 [[ 9.56659434e-01 2.77927109e-01 8.69439459e-02 2.54011955e+02] [-2.76920747e-01 9.60601103e-01 -2.36732098e-02 -5.44291917e+01] [-9.00978771e-02 -1.42938293e-03 9.95931890e-01 -1.80566063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:-54.43, Z:-18.06 [[ 9.56619821e-01 2.77937123e-01 8.73468566e-02 2.54039697e+02] [-2.76922167e-01 9.60598182e-01 -2.37748934e-02 -5.44346525e+01] [-9.05131572e-02 -1.44474646e-03 9.95894212e-01 -1.80596184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:-54.44, Z:-18.06 [[ 9.56646005e-01 2.77766733e-01 8.76017279e-02 2.54066914e+02] [-2.76745741e-01 9.60647474e-01 -2.38374673e-02 -5.44415995e+01] [-9.07756340e-02 -1.43938726e-03 9.95870329e-01 -1.80629460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.09, Y:-54.45, Z:-18.07 [[ 9.56946063e-01 2.76647245e-01 8.78665735e-02 2.54092237e+02] [-2.75615956e-01 9.60970601e-01 -2.39028918e-02 -5.44493167e+01] [-9.10498631e-02 -1.34365142e-03 9.95845428e-01 -1.80657887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:-54.46, Z:-18.07 [[ 9.57133704e-01 2.75936125e-01 8.80586642e-02 2.54118976e+02] [-2.74898061e-01 9.61175114e-01 -2.39469544e-02 -5.44553525e+01] [-9.12476264e-02 -1.28671894e-03 9.95827402e-01 -1.80684589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.15, Y:-54.46, Z:-18.07 [[ 9.57292383e-01 2.75185395e-01 8.86808454e-02 2.54145018e+02] [-2.74129979e-01 9.61390392e-01 -2.41095293e-02 -5.44609339e+01] [-9.18915030e-02 -1.23020957e-03 9.95768265e-01 -1.80714034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-54.47, Z:-18.07 [[ 9.57803241e-01 2.73186407e-01 8.93428130e-02 2.54172180e+02] [-2.72107225e-01 9.61960538e-01 -2.42813159e-02 -5.44675354e+01] [-9.25775858e-02 -1.05410189e-03 9.95704916e-01 -1.80744370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-54.48, Z:-18.08 [[ 9.57804576e-01 2.70202422e-01 9.79849227e-02 2.54195726e+02] [-2.70762000e-01 9.62614763e-01 -7.79464622e-03 -5.44847604e+01] [-9.64278655e-02 -1.90648458e-02 9.95157374e-01 -1.80798404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264000000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:254.23, Y:-54.48, Z:-18.08 [[ 9.58439888e-01 2.71916442e-01 8.63390407e-02 2.54228300e+02] [-2.70050266e-01 9.62286354e-01 -3.28302755e-02 -5.44764127e+01] [-9.20099723e-02 8.14996468e-03 9.95724733e-01 -1.80759338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:-54.49, Z:-18.08 [[ 9.58892010e-01 2.69612051e-01 8.85181071e-02 2.54253827e+02] [-2.67743823e-01 9.62939604e-01 -3.25663205e-02 -5.44859115e+01] [-9.40178634e-02 7.52740818e-03 9.95542053e-01 -1.80841695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.28, Y:-54.50, Z:-18.09 [[ 9.59175297e-01 2.66750514e-01 9.39516524e-02 2.54278329e+02] [-2.66235299e-01 9.63736062e-01 -1.82090221e-02 -5.45024797e+01] [-9.54018615e-02 -7.54760203e-03 9.95410226e-01 -1.80878692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:-54.50, Z:-18.09 [[ 9.59385339e-01 2.67636225e-01 8.91662668e-02 2.54307316e+02] [-2.65854435e-01 9.63497904e-01 -3.15152150e-02 -5.45023007e+01] [-9.43461243e-02 6.52998773e-03 9.95518040e-01 -1.80900064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:-54.52, Z:-18.09 [[ 9.59391462e-01 2.66030494e-01 9.37859262e-02 2.54330975e+02] [-2.65350576e-01 9.63947070e-01 -1.98775930e-02 -5.45163621e+01] [-9.56927146e-02 -5.81575651e-03 9.95393933e-01 -1.80944350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.36, Y:-54.52, Z:-18.10 [[ 9.59261922e-01 2.65809508e-01 9.57176631e-02 2.54358722e+02] [-2.65137994e-01 9.64005068e-01 -1.99015688e-02 -5.45237285e+01] [-9.75623385e-02 -6.28757201e-03 9.95209554e-01 -1.80986243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.39, Y:-54.53, Z:-18.10 [[ 9.59324898e-01 2.66848073e-01 9.21295078e-02 2.54386045e+02] [-2.65987231e-01 9.63731654e-01 -2.17276915e-02 -5.45296044e+01] [-9.45861155e-02 -3.66135729e-03 9.95509950e-01 -1.80982869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.41, Y:-54.53, Z:-18.10 [[ 9.59063074e-01 2.68610426e-01 8.97020616e-02 2.54413579e+02] [-2.67211970e-01 9.63245950e-01 -2.74773103e-02 -5.45341409e+01] [-9.37858396e-02 2.38300903e-03 9.95589543e-01 -1.81016344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.44, Y:-54.54, Z:-18.11 [[ 9.58319863e-01 2.71499865e-01 8.89430331e-02 2.54441967e+02] [-2.69735044e-01 9.62418373e-01 -3.15258784e-02 -5.45378058e+01] [-9.41596809e-02 6.22082247e-03 9.95537672e-01 -1.81069741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.47, Y:-54.55, Z:-18.11 [[ 9.58043022e-01 2.71607163e-01 9.15593650e-02 2.54466498e+02] [-2.70545412e-01 9.62406655e-01 -2.40543115e-02 -5.45486073e+01] [-9.46506655e-02 -1.72590088e-03 9.95509052e-01 -1.81105228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.50, Y:-54.55, Z:-18.11 [[ 9.58006014e-01 2.72284733e-01 8.99194167e-02 2.54495110e+02] [-2.70777646e-01 9.62211291e-01 -2.87905789e-02 -5.45536063e+01] [-9.43607132e-02 3.23337975e-03 9.95532823e-01 -1.81128588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:-54.56, Z:-18.12 [[ 9.57946786e-01 2.71941583e-01 9.15736376e-02 2.54521444e+02] [-2.70807361e-01 9.62313230e-01 -2.48318392e-02 -5.45639647e+01] [-9.48753326e-02 -1.01123459e-03 9.95488648e-01 -1.81160204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:254.55, Y:-54.57, Z:-18.12 [[ 9.57950796e-01 2.71342281e-01 9.32932929e-02 2.54548021e+02] [-2.70547712e-01 9.62470793e-01 -2.13051134e-02 -5.45718194e+01] [-9.55730477e-02 -4.83103660e-03 9.95410696e-01 -1.81194295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.57, Y:-54.58, Z:-18.12 [[ 9.57916555e-01 2.71546247e-01 9.30511119e-02 2.54573618e+02] [-2.70449093e-01 9.62423808e-01 -2.44479621e-02 -5.45775227e+01] [-9.61933578e-02 -1.74648121e-03 9.95361134e-01 -1.81233433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:-54.58, Z:-18.13 [[ 9.58214298e-01 2.71351297e-01 9.05197939e-02 2.54602385e+02] [-2.69874960e-01 9.62476336e-01 -2.84043598e-02 -5.45834374e+01] [-9.48307195e-02 2.78843792e-03 9.95489507e-01 -1.81263845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:254.63, Y:-54.59, Z:-18.13 [[ 9.58469976e-01 2.70306410e-01 9.09381646e-02 2.54629066e+02] [-2.69095513e-01 9.62774348e-01 -2.55570053e-02 -5.45927448e+01] [-9.44611545e-02 2.45701852e-05 9.95528548e-01 -1.81291642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:254.66, Y:-54.60, Z:-18.13 [[ 9.58483646e-01 2.69310953e-01 9.37054524e-02 2.54655413e+02] [-2.68436682e-01 9.63044894e-01 -2.20517352e-02 -5.46020410e+01] [-9.61813313e-02 -4.01775323e-03 9.95355720e-01 -1.81319367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:-54.61, Z:-18.14 [[ 9.58653766e-01 2.69465592e-01 9.14945479e-02 2.54682911e+02] [-2.68017797e-01 9.63007243e-01 -2.79912460e-02 -5.46055956e+01] [-9.56525900e-02 2.31174617e-03 9.95412094e-01 -1.81353035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:-54.63, Z:-18.14 [[ 9.58267337e-01 2.65683513e-01 1.05527157e-01 2.54703963e+02] [-2.67302657e-01 9.63611817e-01 1.24738307e-03 -5.46315684e+01] [-1.01355806e-01 -2.94030158e-02 9.94415639e-01 -1.81446198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:254.74, Y:-54.61, Z:-18.14 [[ 9.58412712e-01 2.73364066e-01 8.19582839e-02 2.54742038e+02] [-2.69816818e-01 9.61515700e-01 -5.18309208e-02 -5.46060941e+01] [-9.29728880e-02 2.75616901e-02 9.95287092e-01 -1.81393825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:254.76, Y:-54.63, Z:-18.14 [[ 9.58590203e-01 2.70367403e-01 8.94778784e-02 2.54764711e+02] [-2.69283494e-01 9.62756805e-01 -2.42019387e-02 -5.46298366e+01] [-9.26888516e-02 -8.95174403e-04 9.95694720e-01 -1.81446125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:-54.64, Z:-18.15 [[ 9.57973518e-01 2.71501664e-01 9.25936602e-02 2.54788110e+02] [-2.71123247e-01 9.62396544e-01 -1.68842328e-02 -5.46408620e+01] [-9.36959158e-02 -8.92964591e-03 9.95560815e-01 -1.81475722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:-54.64, Z:-18.15 [[ 9.57403715e-01 2.74590828e-01 8.93196774e-02 2.54820231e+02] [-2.72828785e-01 9.61543084e-01 -3.16125151e-02 -5.46405758e+01] [-9.45652248e-02 5.89696040e-03 9.95501202e-01 -1.81516018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.85, Y:-54.65, Z:-18.15 [[ 9.56152438e-01 2.78065876e-01 9.19341284e-02 2.54847998e+02] [-2.76956402e-01 9.60560537e-01 -2.48718083e-02 -5.46496415e+01] [-9.52242969e-02 -1.68050533e-03 9.95454423e-01 -1.81545822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:-54.66, Z:-18.16 [[ 9.55454197e-01 2.79809937e-01 9.38811858e-02 2.54873150e+02] [-2.79032376e-01 9.60039209e-01 -2.15789319e-02 -5.46571577e+01] [-9.61676189e-02 -5.57820927e-03 9.95349523e-01 -1.81584980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-54.66, Z:-18.16 [[ 9.54946128e-01 2.82047885e-01 9.23411294e-02 2.54901631e+02] [-2.80790823e-01 9.59400186e-01 -2.66044397e-02 -5.46610801e+01] [-9.60958227e-02 -5.22735115e-04 9.95371950e-01 -1.81613712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:-54.68, Z:-18.16 [[ 9.55123413e-01 2.80756139e-01 9.44206335e-02 2.54926172e+02] [-2.81557433e-01 9.59531344e-01 -5.00122314e-03 -5.46798286e+01] [-9.20036815e-02 -2.18080459e-02 9.95519830e-01 -1.81556332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:-54.66, Z:-18.17 [[ 9.54134801e-01 2.85806265e-01 8.91154323e-02 2.54959854e+02] [-2.82925256e-01 9.58145507e-01 -4.37091114e-02 -5.46637341e+01] [-9.78778890e-02 1.64913779e-02 9.95061784e-01 -1.81663100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-54.68, Z:-18.17 [[ 9.54212460e-01 2.83824911e-01 9.44563451e-02 2.54981601e+02] [-2.82945930e-01 9.58863515e-01 -2.28552075e-02 -5.46816577e+01] [-9.70576203e-02 -4.91731467e-03 9.95266617e-01 -1.81685327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:255.01, Y:-54.68, Z:-18.17 [[ 9.54421394e-01 2.83882421e-01 9.21443103e-02 2.55012827e+02] [-2.82338897e-01 9.58856379e-01 -2.96511675e-02 -5.46847146e+01] [-9.67706050e-02 2.28378567e-03 9.95304091e-01 -1.81720874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-54.69, Z:-18.18 [[ 9.54819310e-01 2.82156280e-01 9.33162303e-02 2.55038792e+02] [-2.81037629e-01 9.59366002e-01 -2.51937689e-02 -5.46914065e+01] [-9.66329989e-02 -2.16987504e-03 9.95317716e-01 -1.81762130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:-54.70, Z:-18.18 [[ 9.55048537e-01 2.81345853e-01 9.34173632e-02 2.55062989e+02] [-2.80569828e-01 9.59590273e-01 -2.16120402e-02 -5.46987076e+01] [-9.57228509e-02 -5.56954614e-03 9.95392443e-01 -1.81780615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:-54.70, Z:-18.18 [[ 9.55402817e-01 2.80190381e-01 9.32673954e-02 2.55092971e+02] [-2.78771203e-01 9.59944008e-01 -2.81800972e-02 -5.47024266e+01] [-9.74272696e-02 9.23080188e-04 9.95242219e-01 -1.81828420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:255.12, Y:-54.71, Z:-18.19 [[ 9.56273180e-01 2.77294496e-01 9.30019797e-02 2.55118338e+02] [-2.76163127e-01 9.60783469e-01 -2.50809360e-02 -5.47096065e+01] [-9.63095702e-02 -1.69949105e-03 9.95349978e-01 -1.81860779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:-54.72, Z:-18.19 [[ 9.56649110e-01 2.75967431e-01 9.30830688e-02 2.55145489e+02] [-2.74828630e-01 9.61165696e-01 -2.50944053e-02 -5.47153303e+01] [-9.63934912e-02 -1.57535176e-03 9.95342058e-01 -1.81899512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.17, Y:-54.72, Z:-18.19 [[ 9.57021643e-01 2.74748411e-01 9.28594954e-02 2.55172530e+02] [-2.73610057e-01 9.61515050e-01 -2.50269026e-02 -5.47200315e+01] [-9.61619041e-02 -1.45600436e-03 9.95364641e-01 -1.81935736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:-54.72, Z:-18.20 [[ 9.57521232e-01 2.73083466e-01 9.26202492e-02 2.55200481e+02] [-2.71943900e-01 9.61989475e-01 -2.49552560e-02 -5.47246872e+01] [-9.59145727e-02 -1.29232429e-03 9.95388730e-01 -1.81972724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.23, Y:-54.73, Z:-18.20 [[ 9.57815102e-01 2.72282678e-01 9.19367948e-02 2.55226461e+02] [-2.71156841e-01 9.62216546e-01 -2.47646368e-02 -5.47305917e+01] [-9.52060867e-02 -1.20934773e-03 9.95456849e-01 -1.82003968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-54.74, Z:-18.20 [[ 9.58080114e-01 2.71566788e-01 9.12906062e-02 2.55253268e+02] [-2.70454655e-01 9.62418919e-01 -2.45785198e-02 -5.47362402e+01] [-9.45345162e-02 -1.14177836e-03 9.95520930e-01 -1.82037033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-54.74, Z:-18.21 [[ 9.58664735e-01 2.69383271e-01 9.16219356e-02 2.55280621e+02] [-2.68253745e-01 9.63032593e-01 -2.46607378e-02 -5.47421151e+01] [-9.48781005e-02 -9.36547708e-04 9.95488457e-01 -1.82068713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:-54.75, Z:-18.21 [[ 9.59058402e-01 2.67927669e-01 9.17700755e-02 2.55306725e+02] [-2.66788505e-01 9.63438697e-01 -2.46935303e-02 -5.47490924e+01] [-9.50309220e-02 -8.00663585e-04 9.95473999e-01 -1.82093223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:255.33, Y:-54.76, Z:-18.21 [[ 9.59557459e-01 2.65620310e-01 9.32487694e-02 2.55330198e+02] [-2.65782358e-01 9.63971372e-01 -1.09055598e-02 -5.47628504e+01] [-9.27858824e-02 -1.43193666e-02 9.95583113e-01 -1.82062925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:255.36, Y:-54.75, Z:-18.21 [[ 9.59693574e-01 2.66368752e-01 8.96433581e-02 2.55364079e+02] [-2.63983834e-01 9.63789883e-01 -3.77040596e-02 -5.47537252e+01] [-9.64405450e-02 1.25199463e-02 9.95260002e-01 -1.82128092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:-54.77, Z:-18.22 [[ 9.60010335e-01 2.63675136e-01 9.41040921e-02 2.55388910e+02] [-2.62459945e-01 9.64611448e-01 -2.52889610e-02 -5.47691036e+01] [-9.74419548e-02 -4.20890951e-04 9.95241121e-01 -1.82170717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:-54.78, Z:-18.22 [[ 9.60312713e-01 2.62735754e-01 9.36451677e-02 2.55414394e+02] [-2.61528621e-01 9.64867770e-01 -2.51588170e-02 -5.47766050e+01] [-9.69653249e-02 -3.30559778e-04 9.95287705e-01 -1.82200465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:-54.78, Z:-18.22 [[ 9.60564590e-01 2.62035646e-01 9.30214412e-02 2.55440732e+02] [-2.60842365e-01 9.65058158e-01 -2.49802367e-02 -5.47835731e+01] [-9.63168132e-02 -2.68801904e-04 9.95350692e-01 -1.82228230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:-54.79, Z:-18.23 [[ 9.60740392e-01 2.61630177e-01 9.23447341e-02 2.55467219e+02] [-2.60452908e-01 9.65168170e-01 -2.47928639e-02 -5.47905222e+01] [-9.56147594e-02 -2.31948723e-04 9.95418386e-01 -1.82264997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:-54.80, Z:-18.23 [[ 9.60410018e-01 2.61126078e-01 9.70864007e-02 2.55491045e+02] [-2.60885420e-01 9.65247082e-01 -1.53905580e-02 -5.48045221e+01] [-9.77312410e-02 -1.05471803e-02 9.95156953e-01 -1.82313837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58264 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:255.52, Y:-54.80, Z:-18.23 [[ 9.60715773e-01 2.63174782e-01 8.81149104e-02 2.55522127e+02] [-2.61144996e-01 9.64699590e-01 -3.40292925e-02 -5.48005970e+01] [-9.39600696e-02 9.68171011e-03 9.95528889e-01 -1.82318496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-54.81, Z:-18.24 [[ 9.60626625e-01 2.62422222e-01 9.12746645e-02 2.55547556e+02] [-2.61277578e-01 9.64953093e-01 -2.44858401e-02 -5.48141868e+01] [-9.45013984e-02 -3.26273320e-04 9.95524675e-01 -1.82358561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:-54.82, Z:-18.24 [[ 9.60162542e-01 2.64261161e-01 9.08511567e-02 2.55573714e+02] [-2.63135924e-01 9.64451024e-01 -2.43661114e-02 -5.48219589e+01] [-9.40605080e-02 -5.10775666e-04 9.95566351e-01 -1.82380649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:-54.83, Z:-18.24 [[ 9.59842072e-01 2.65510437e-01 9.05947316e-02 2.55600007e+02] [-2.64398191e-01 9.64107772e-01 -2.42858237e-02 -5.48297903e+01] [-9.37912245e-02 -6.42527812e-04 9.95591680e-01 -1.82411886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:-54.85, Z:-18.23 [[ 9.59954816e-01 2.63883155e-01 9.40873658e-02 2.55623043e+02] [-2.65362681e-01 9.64142847e-01 3.34931180e-03 -5.48529532e+01] [-8.98298338e-02 -2.81824637e-02 9.95558311e-01 -1.82342473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:-54.83, Z:-18.24 [[ 9.58592233e-01 2.72261035e-01 8.35156304e-02 2.55659103e+02] [-2.68771837e-01 9.61867254e-01 -5.07255826e-02 -5.48281866e+01] [-9.41415498e-02 2.61785000e-02 9.95214577e-01 -1.82435070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:-54.86, Z:-18.25 [[ 9.58053765e-01 2.68413053e-01 1.00436133e-01 2.55677108e+02] [-2.69060243e-01 9.63095677e-01 -7.30088034e-03 -5.48613520e+01] [-9.86892572e-02 -2.00287344e-02 9.94916720e-01 -1.82519991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:-54.85, Z:-18.25 [[ 9.58030536e-01 2.73277036e-01 8.65861066e-02 2.55711008e+02] [-2.70576408e-01 9.61792579e-01 -4.17545530e-02 -5.48477419e+01] [-9.46884353e-02 1.65739790e-02 9.95368979e-01 -1.82489666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:-54.87, Z:-18.25 [[ 9.57801767e-01 2.72584801e-01 9.11773068e-02 2.55733754e+02] [-2.71494304e-01 9.62130763e-01 -2.43975013e-02 -5.48655295e+01] [-9.43748798e-02 -1.38614952e-03 9.95535766e-01 -1.82538719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:-54.87, Z:-18.26 [[ 9.56730781e-01 2.76177616e-01 9.16086117e-02 2.55760971e+02] [-2.75094359e-01 9.61105002e-01 -2.45003898e-02 -5.48713702e+01] [-9.48119541e-02 -1.76073531e-03 9.95493643e-01 -1.82561793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:-54.89, Z:-18.25 [[ 9.56744647e-01 2.74849563e-01 9.53802771e-02 2.55784938e+02] [-2.76399297e-01 9.61037644e-01 3.17435823e-03 -5.48925624e+01] [-9.07915658e-02 -2.94000918e-02 9.95435847e-01 -1.82488697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:-54.87, Z:-18.26 [[ 9.55569860e-01 2.82270435e-01 8.49096181e-02 2.55821190e+02] [-2.78737674e-01 9.59003056e-01 -5.11707701e-02 -5.48673177e+01] [-9.58725788e-02 2.52297363e-02 9.95073821e-01 -1.82591898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:-54.89, Z:-18.26 [[ 9.55293840e-01 2.80651111e-01 9.29980259e-02 2.55843431e+02] [-2.79558077e-01 9.59807190e-01 -2.48483318e-02 -5.48880581e+01] [-9.62338858e-02 -2.26089098e-03 9.95356181e-01 -1.82648093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:255.87, Y:-54.89, Z:-18.27 [[ 9.55428489e-01 2.80633279e-01 9.16589639e-02 2.55870500e+02] [-2.79572244e-01 9.59812467e-01 -2.44824259e-02 -5.48933502e+01] [-9.48459998e-02 -2.23409500e-03 9.95489450e-01 -1.82671533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.90, Y:-54.90, Z:-18.27 [[ 9.55630516e-01 2.79993351e-01 9.15097830e-02 2.55896041e+02] [-2.78933504e-01 9.59999478e-01 -2.44356609e-02 -5.48999740e+01] [-9.46911666e-02 -2.17368120e-03 9.95504323e-01 -1.82714526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:-54.91, Z:-18.27 [[ 9.56172322e-01 2.78407385e-01 9.06852716e-02 2.55922399e+02] [-2.77360257e-01 9.60460985e-01 -2.42071299e-02 -5.49074493e+01] [-9.38391090e-02 -2.00630254e-03 9.95585354e-01 -1.82746412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:-54.92, Z:-18.28 [[ 9.57429271e-01 2.73834016e-01 9.13461703e-02 2.55949205e+02] [-2.72751414e-01 9.61775675e-01 -2.43765831e-02 -5.49150913e+01] [-9.45296622e-02 -1.57594298e-03 9.95520798e-01 -1.82775113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.98, Y:-54.92, Z:-18.28 [[ 9.58247712e-01 2.71189752e-01 9.06500970e-02 2.55975585e+02] [-2.70112357e-01 9.62525013e-01 -2.41849937e-02 -5.49206453e+01] [-9.38117083e-02 -1.31049650e-03 9.95589095e-01 -1.82799700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:-54.93, Z:-18.28 [[ 9.59012878e-01 2.68645377e-01 9.01330215e-02 2.56002840e+02] [-2.67570252e-01 9.63238559e-01 -2.40341251e-02 -5.49271844e+01] [-9.32762584e-02 -1.06787981e-03 9.95639693e-01 -1.82839998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:-54.94, Z:-18.29 [[ 9.60472968e-01 2.63914814e-01 8.85474372e-02 2.56028947e+02] [-2.62857765e-01 9.64545803e-01 -2.36048482e-02 -5.49358549e+01] [-9.16377280e-02 -6.03562888e-04 9.95792229e-01 -1.82870118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:-54.94, Z:-18.29 [[ 9.60944579e-01 2.62218595e-01 8.84699011e-02 2.56055700e+02] [-2.61156838e-01 9.65008398e-01 -2.35774990e-02 -5.49438303e+01] [-9.15566561e-02 -4.47849770e-04 9.95799768e-01 -1.82901884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:-54.95, Z:-18.29 [[ 9.61201193e-01 2.61195275e-01 8.87090506e-02 2.56081107e+02] [-2.60123990e-01 9.65285916e-01 -2.36349212e-02 -5.49509615e+01] [-9.18029270e-02 -3.57437704e-04 9.95777131e-01 -1.82930324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:-54.96, Z:-18.30 [[ 9.61396435e-01 2.60531144e-01 8.85461357e-02 2.56107681e+02] [-2.59461992e-01 9.65465396e-01 -2.35805915e-02 -5.49584987e+01] [-9.16317084e-02 -3.04060213e-04 9.95792919e-01 -1.82960982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.13, Y:-54.98, Z:-18.29 [[ 9.61681982e-01 2.58247934e-01 9.20639463e-02 2.56132318e+02] [-2.59020930e-01 9.65864780e-01 -3.65856768e-03 -5.49764398e+01] [-8.98661407e-02 -2.03281104e-02 9.95746376e-01 -1.82925017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:-54.96, Z:-18.30 [[ 9.61007375e-01 2.63477597e-01 8.39308078e-02 2.56165980e+02] [-2.60692200e-01 9.64473888e-01 -4.27749365e-02 -5.49599650e+01] [-9.22193100e-02 1.92269225e-02 9.95553075e-01 -1.82991038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:-54.98, Z:-18.30 [[ 9.60865200e-01 2.62191259e-01 8.94081178e-02 2.56189134e+02] [-2.61110098e-01 9.65015807e-01 -2.37909420e-02 -5.49770153e+01] [-9.25180240e-02 -4.85474143e-04 9.95710892e-01 -1.83037993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:-55.00, Z:-18.30 [[ 9.60777398e-01 2.61490426e-01 9.23555507e-02 2.56213320e+02] [-2.62213710e-01 9.64999659e-01 -4.43033267e-03 -5.49952165e+01] [-9.02815645e-02 -1.99603281e-02 9.95716237e-01 -1.83003734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:-54.98, Z:-18.31 [[ 9.60149911e-01 2.66238752e-01 8.50239695e-02 2.56245446e+02] [-2.63454056e-01 9.63728547e-01 -4.26526391e-02 -5.49815150e+01] [-9.32958120e-02 1.85530180e-02 9.95465558e-01 -1.83083362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:-55.01, Z:-18.31 [[ 9.60540396e-01 2.62034845e-01 9.32731887e-02 2.56266319e+02] [-2.62629333e-01 9.64877751e-01 -6.06292609e-03 -5.50105070e+01] [-9.15859224e-02 -1.86725899e-02 9.95622094e-01 -1.83077378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.30, Y:-55.00, Z:-18.31 [[ 9.60055378e-01 2.66281144e-01 8.59536090e-02 2.56298788e+02] [-2.63592949e-01 9.63743046e-01 -4.14499449e-02 -5.49974820e+01] [-9.38745317e-02 1.71374773e-02 9.95436527e-01 -1.83144358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:256.32, Y:-55.02, Z:-18.32 [[ 9.59865820e-01 2.64391549e-01 9.35666407e-02 2.56320094e+02] [-2.64177185e-01 9.64359129e-01 -1.48958421e-02 -5.50190105e+01] [-9.41701789e-02 -1.04201621e-02 9.95501581e-01 -1.83204832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:-55.02, Z:-18.33 [[ 9.59689371e-01 2.65107357e-01 9.33509510e-02 2.56347955e+02] [-2.64343523e-01 9.64206810e-01 -2.06816202e-02 -5.50236035e+01] [-9.54924724e-02 -4.82878819e-03 9.95418440e-01 -1.83253358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:-55.02, Z:-18.33 [[ 9.59954892e-01 2.66771356e-01 8.55549416e-02 2.56377197e+02] [-2.64593017e-01 9.63685242e-01 -3.60733989e-02 -5.50220716e+01] [-9.20713841e-02 1.19915956e-02 9.95680201e-01 -1.83263080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:-55.05, Z:-18.33 [[ 9.60094319e-01 2.64133498e-01 9.19369016e-02 2.56400201e+02] [-2.64366503e-01 9.64371923e-01 -9.85623839e-03 -5.50461502e+01] [-9.12647294e-02 -1.48421187e-02 9.95716054e-01 -1.83274284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:-55.05, Z:-18.33 [[ 9.60015383e-01 2.65596688e-01 8.84808655e-02 2.56429601e+02] [-2.64558650e-01 9.64083834e-01 -2.34751328e-02 -5.50452167e+01] [-9.15378896e-02 -8.71889673e-04 9.95801212e-01 -1.83296685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:-55.04, Z:-18.34 [[ 9.59709588e-01 2.67530271e-01 8.59363754e-02 2.56458296e+02] [-2.65239892e-01 9.63462219e-01 -3.72605979e-02 -5.50449570e+01] [-9.27647887e-02 1.29655981e-02 9.95603630e-01 -1.83359251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:-55.06, Z:-18.34 [[ 9.59714957e-01 2.66369725e-01 8.94112462e-02 2.56482511e+02] [-2.65315020e-01 9.63870436e-01 -2.37007154e-02 -5.50608079e+01] [-9.24940099e-02 -9.76215452e-04 9.95712762e-01 -1.83403761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:-55.07, Z:-18.34 [[ 9.59480268e-01 2.67119086e-01 8.96939770e-02 2.56508525e+02] [-2.66061581e-01 9.63662946e-01 -2.37689141e-02 -5.50687272e+01] [-9.27838927e-02 -1.05831723e-03 9.95685708e-01 -1.83436845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:-55.08, Z:-18.35 [[ 9.58994863e-01 2.68494440e-01 9.07721840e-02 2.56535617e+02] [-2.67418251e-01 9.63280469e-01 -2.40461513e-02 -5.50762332e+01] [-9.38953299e-02 -1.21400305e-03 9.95581334e-01 -1.83456707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.56, Y:-55.08, Z:-18.35 [[ 9.58678365e-01 2.69608445e-01 9.08134278e-02 2.56561612e+02] [-2.68536881e-01 9.62969115e-01 -2.40504990e-02 -5.50831556e+01] [-9.39347439e-02 -1.33006152e-03 9.95577468e-01 -1.83485141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.59, Y:-55.09, Z:-18.35 [[ 9.58431411e-01 2.70716355e-01 9.01215081e-02 2.56588205e+02] [-2.69667020e-01 9.62658084e-01 -2.38560655e-02 -5.50901226e+01] [-9.32144254e-02 -1.43839604e-03 9.95645018e-01 -1.83518925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:-55.10, Z:-18.36 [[ 9.58184711e-01 2.71805972e-01 8.94626894e-02 2.56613997e+02] [-2.70777317e-01 9.62350842e-01 -2.36748992e-02 -5.50965566e+01] [-9.25294735e-02 -1.53954056e-03 9.95708756e-01 -1.83551393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:-55.10, Z:-18.36 [[ 9.57370159e-01 2.74582714e-01 8.97034631e-02 2.56640317e+02] [-2.73561425e-01 9.61561760e-01 -2.37303258e-02 -5.51017844e+01] [-9.27713571e-02 -1.82070146e-03 9.95685774e-01 -1.83587486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:-55.11, Z:-18.36 [[ 9.57127643e-01 2.75519991e-01 8.94170556e-02 2.56667693e+02] [-2.74510088e-01 9.61293438e-01 -2.36461152e-02 -5.51083667e+01] [-9.24710062e-02 -1.91353324e-03 9.95713539e-01 -1.83616197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.70, Y:-55.11, Z:-18.36 [[ 9.56942465e-01 2.76218951e-01 8.92424213e-02 2.56695225e+02] [-2.75216649e-01 9.61092689e-01 -2.35932194e-02 -5.51145118e+01] [-9.22871329e-02 -1.98364658e-03 9.95730461e-01 -1.83647300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:-55.12, Z:-18.37 [[ 9.56740316e-01 2.76914182e-01 8.92552699e-02 2.56722946e+02] [-2.75915245e-01 9.60892451e-01 -2.35897318e-02 -5.51203265e+01] [-9.22970464e-02 -2.05764223e-03 9.95729392e-01 -1.83677493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:-55.13, Z:-18.37 [[ 9.56700246e-01 2.77002893e-01 8.94093793e-02 2.56748769e+02] [-2.76001527e-01 9.60866841e-01 -2.36235457e-02 -5.51273217e+01] [-9.24542983e-02 -2.07647324e-03 9.95714764e-01 -1.83709155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:256.78, Y:-55.13, Z:-18.37 [[ 9.56878044e-01 2.76707886e-01 8.84146736e-02 2.56776070e+02] [-2.75728224e-01 9.60951930e-01 -2.33523856e-02 -5.51334213e+01] [-9.14240405e-02 -2.03303586e-03 9.95809978e-01 -1.83724550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.80, Y:-55.14, Z:-18.38 [[ 9.56807522e-01 2.76207010e-01 9.07141276e-02 2.56801590e+02] [-2.75174075e-01 9.61095993e-01 -2.39524601e-02 -5.51391247e+01] [-9.38008219e-02 -2.04428213e-03 9.95588884e-01 -1.83772827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:-55.14, Z:-18.38 [[ 9.57202196e-01 2.74796878e-01 9.08329842e-02 2.56828692e+02] [-2.73755716e-01 9.61500391e-01 -2.39751294e-02 -5.51441247e+01] [-9.39242405e-02 -1.91700213e-03 9.95577502e-01 -1.83799390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:-55.16, Z:-18.38 [[ 9.58065538e-01 2.71704047e-01 9.10348011e-02 2.56853868e+02] [-2.72346675e-01 9.62183320e-01 -5.52687682e-03 -5.51601903e+01] [-8.90938420e-02 -1.94979152e-02 9.95832375e-01 -1.83753305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-55.15, Z:-18.38 [[ 9.57879235e-01 2.74378144e-01 8.47585089e-02 2.56886886e+02] [-2.71809203e-01 9.61489331e-01 -4.07188237e-02 -5.51458396e+01] [-9.26667573e-02 1.59655729e-02 9.95569170e-01 -1.83848122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:-55.16, Z:-18.39 [[ 9.58472278e-01 2.70908888e-01 8.91025682e-02 2.56911490e+02] [-2.69892195e-01 9.62603785e-01 -2.34980227e-02 -5.51609268e+01] [-9.21362926e-02 -1.52588434e-03 9.95745236e-01 -1.83901184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:-55.18, Z:-18.39 [[ 9.60195722e-01 2.64522908e-01 8.97318596e-02 2.56936288e+02] [-2.65133717e-01 9.64197304e-01 -5.26027120e-03 -5.51755101e+01] [-8.79106794e-02 -1.87400516e-02 9.95952069e-01 -1.83855092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:256.97, Y:-55.17, Z:-18.39 [[ 9.60799220e-01 2.63897804e-01 8.49871089e-02 2.56965846e+02] [-2.62864733e-01 9.64550643e-01 -2.33278432e-02 -5.51705477e+01] [-8.81305371e-02 7.32598985e-05 9.96108931e-01 -1.83872934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:-55.18, Z:-18.39 [[ 9.61942676e-01 2.59218180e-01 8.64420275e-02 2.56991974e+02] [-2.58183765e-01 9.65818788e-01 -2.31346580e-02 -5.51755848e+01] [-8.94842582e-02 -6.37132454e-05 9.95988235e-01 -1.83904169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:-55.17, Z:-18.40 [[ 9.62131936e-01 2.58983166e-01 8.50285647e-02 2.57021414e+02] [-2.56451816e-01 9.65743663e-01 -3.96439646e-02 -5.51740512e+01] [-9.23829170e-02 1.63369946e-02 9.95589523e-01 -1.84010074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:-55.20, Z:-18.40 [[ 9.63353307e-01 2.52663165e-01 9.00651515e-02 2.57042333e+02] [-2.53192653e-01 9.67399165e-01 -5.68650326e-03 -5.51995434e+01] [-8.85657223e-02 -1.73257229e-02 9.95919641e-01 -1.83982069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:-55.19, Z:-18.41 [[ 9.63282625e-01 2.54739235e-01 8.48204334e-02 2.57074736e+02] [-2.52141294e-01 9.66853845e-01 -4.02294751e-02 -5.51877440e+01] [-9.22569879e-02 1.73656205e-02 9.95583790e-01 -1.84076497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:-55.21, Z:-18.40 [[ 9.64602914e-01 2.47086894e-01 9.21373187e-02 2.57096392e+02] [-2.47763108e-01 9.68811511e-01 -4.20688824e-03 -5.52125967e+01] [-9.03031619e-02 -1.87702518e-02 9.95737424e-01 -1.84037769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.13, Y:-55.21, Z:-18.41 [[ 9.64617116e-01 2.48515609e-01 8.80557298e-02 2.57127144e+02] [-2.47241600e-01 9.68624400e-01 -2.52658565e-02 -5.52073480e+01] [-9.15718881e-02 2.60083809e-03 9.95795072e-01 -1.84060397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:-55.22, Z:-18.41 [[ 9.64801865e-01 2.47149456e-01 8.98582645e-02 2.57153547e+02] [-2.46330705e-01 9.68973931e-01 -2.02658704e-02 -5.52172246e+01] [-9.20790146e-02 -2.58230009e-03 9.95748355e-01 -1.84088821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:257.19, Y:-55.21, Z:-18.42 [[ 9.64366485e-01 2.49544094e-01 8.78921402e-02 2.57185330e+02] [-2.46611813e-01 9.68162128e-01 -4.29500689e-02 -5.52115016e+01] [-9.58117775e-02 1.97443669e-02 9.95203629e-01 -1.84183655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:-55.24, Z:-18.42 [[ 9.64900848e-01 2.44943652e-01 9.47045986e-02 2.57205677e+02] [-2.45709243e-01 9.69336619e-01 -3.67241838e-03 -5.52398890e+01] [-9.27001710e-02 -1.97262756e-02 9.95498645e-01 -1.84157875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:-55.23, Z:-18.43 [[ 9.64206205e-01 2.50380174e-01 8.72706336e-02 2.57239766e+02] [-2.47378685e-01 9.67926744e-01 -4.38360997e-02 -5.52255765e+01] [-9.54472706e-02 2.06781448e-02 9.95219691e-01 -1.84262551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.26, Y:-55.25, Z:-18.42 [[ 9.64538409e-01 2.46720505e-01 9.37797952e-02 2.57259964e+02] [-2.47379142e-01 9.68907263e-01 -4.71962361e-03 -5.52544482e+01] [-9.20283526e-02 -1.86469071e-02 9.95581777e-01 -1.84242984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:-55.26, Z:-18.43 [[ 9.63874646e-01 2.49775131e-01 9.25097303e-02 2.57288450e+02] [-2.49343357e-01 9.68276542e-01 -1.63837857e-02 -5.52562617e+01] [-9.36672639e-02 -7.27477111e-03 9.95576979e-01 -1.84268414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:-55.25, Z:-18.44 [[ 9.63120838e-01 2.55169365e-01 8.53630233e-02 2.57322558e+02] [-2.51629708e-01 9.66525291e-01 -5.01133859e-02 -5.52451115e+01] [-9.52929218e-02 2.67853736e-02 9.95088842e-01 -1.84364754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:-55.27, Z:-18.44 [[ 9.62712705e-01 2.52527201e-01 9.70271139e-02 2.57343834e+02] [-2.52178136e-01 9.67547761e-01 -1.60473893e-02 -5.52710936e+01] [-9.79307691e-02 -9.01909120e-03 9.95152360e-01 -1.84440520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.37, Y:-55.27, Z:-18.44 [[ 9.62045785e-01 2.57671051e-01 8.98528658e-02 2.57374355e+02] [-2.55691715e-01 9.66192143e-01 -3.30830655e-02 -5.52672344e+01] [-9.53396812e-02 8.85279029e-03 9.95405432e-01 -1.84449342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-55.29, Z:-18.45 [[ 9.61574716e-01 2.56967386e-01 9.66531341e-02 2.57396567e+02] [-2.56678439e-01 9.66370547e-01 -1.56251236e-02 -5.52856067e+01] [-9.74178893e-02 -9.78405174e-03 9.95195472e-01 -1.84511670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:257.42, Y:-55.30, Z:-18.45 [[ 9.61632435e-01 2.57700070e-01 9.40942845e-02 2.57422722e+02] [-2.58090430e-01 9.66085901e-01 -8.20747046e-03 -5.52954317e+01] [-9.30182273e-02 -1.63922646e-02 9.95529459e-01 -1.84455292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:-55.28, Z:-18.45 [[ 9.60798002e-01 2.64029145e-01 8.45920149e-02 2.57458179e+02] [-2.60773165e-01 9.64222452e-01 -4.76699079e-02 -5.52802137e+01] [-9.41517650e-02 2.37418248e-02 9.95274721e-01 -1.84528919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:-55.30, Z:-18.46 [[ 9.59909460e-01 2.65126013e-01 9.10056389e-02 2.57481976e+02] [-2.64050082e-01 9.64213143e-01 -2.38865944e-02 -5.52994426e+01] [-9.40817906e-02 -1.10107843e-03 9.95563862e-01 -1.84586145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:-55.32, Z:-18.45 [[ 9.59796032e-01 2.64787133e-01 9.31630381e-02 2.57505551e+02] [-2.65515226e-01 9.64095124e-01 -4.71778978e-03 -5.53161173e+01] [-9.10672407e-02 -2.02080892e-02 9.95639689e-01 -1.84541827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:-55.30, Z:-18.46 [[ 9.58616643e-01 2.71032711e-01 8.71516027e-02 2.57539553e+02] [-2.68275174e-01 9.62419435e-01 -4.21575943e-02 -5.53023377e+01] [-9.53024832e-02 1.70323601e-02 9.95302635e-01 -1.84632110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.56, Y:-55.32, Z:-18.46 [[ 9.58257353e-01 2.70246882e-01 9.33245307e-02 2.57561675e+02] [-2.70600717e-01 9.62648815e-01 -9.08350070e-03 -5.53240935e+01] [-9.22935367e-02 -1.65493536e-02 9.95594306e-01 -1.84614948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:-55.31, Z:-18.47 [[ 9.57596547e-01 2.74256538e-01 8.82734630e-02 2.57594019e+02] [-2.71874258e-01 9.61574250e-01 -3.82014423e-02 -5.53134157e+01] [-9.53584842e-02 1.25822869e-02 9.95363474e-01 -1.84692808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:-55.34, Z:-18.48 [[ 9.57250476e-01 2.71203766e-01 1.00598425e-01 2.57615490e+02] [-2.71627636e-01 9.62353305e-01 -9.72338210e-03 -5.53370652e+01] [-9.94482450e-02 -1.80176003e-02 9.94879597e-01 -1.84779379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:-55.33, Z:-18.48 [[ 9.57264720e-01 2.73366365e-01 9.44197313e-02 2.57646790e+02] [-2.71577684e-01 9.61899175e-01 -3.15521576e-02 -5.53284259e+01] [-9.94475603e-02 4.56147538e-03 9.95032349e-01 -1.84776689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-55.33, Z:-18.48 [[ 9.57811443e-01 2.72743375e-01 9.05996240e-02 2.57675235e+02] [-2.70755419e-01 9.62054916e-01 -3.37911549e-02 -5.53312674e+01] [-9.63781273e-02 7.83521566e-03 9.95313953e-01 -1.84787679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.70, Y:-55.34, Z:-18.48 [[ 9.58322709e-01 2.70261352e-01 9.26087880e-02 2.57701400e+02] [-2.69178571e-01 9.62785479e-01 -2.42284548e-02 -5.53413761e+01] [-9.57104112e-02 -1.70962280e-03 9.95407753e-01 -1.84832812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:257.73, Y:-55.34, Z:-18.49 [[ 9.59566196e-01 2.66192539e-01 9.15109133e-02 2.57729159e+02] [-2.65117496e-01 9.63919009e-01 -2.39344259e-02 -5.53447566e+01] [-9.45802745e-02 -1.29447814e-03 9.95516397e-01 -1.84862674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:257.75, Y:-55.36, Z:-18.48 [[ 9.60532868e-01 2.62216922e-01 9.28380023e-02 2.57753191e+02] [-2.62414860e-01 9.64900308e-01 -1.02877106e-02 -5.53579337e+01] [-9.22770288e-02 -1.44803872e-02 9.95628077e-01 -1.84847716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:-55.36, Z:-18.49 [[ 9.61091001e-01 2.61134878e-01 9.00703240e-02 2.57782322e+02] [-2.60018661e-01 9.65302294e-01 -2.41200532e-02 -5.53558797e+01] [-9.32436775e-02 -2.38399038e-04 9.95643289e-01 -1.84858784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:-55.35, Z:-18.49 [[ 9.62021570e-01 2.57569766e-01 9.04008599e-02 2.57812114e+02] [-2.55212050e-01 9.66179335e-01 -3.69364657e-02 -5.53540079e+01] [-9.68571595e-02 1.24622879e-02 9.95220268e-01 -1.84942848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.83, Y:-55.38, Z:-18.49 [[ 9.63040809e-01 2.52061458e-01 9.49601075e-02 2.57834374e+02] [-2.52395820e-01 9.67585217e-01 -8.67170314e-03 -5.53750691e+01] [-9.40677983e-02 -1.56163302e-02 9.95443308e-01 -1.84924168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:-55.37, Z:-18.49 [[ 9.63606813e-01 2.51497216e-01 9.06148978e-02 2.57864643e+02] [-2.50275546e-01 9.67857269e-01 -2.47882791e-02 -5.53706626e+01] [-9.39364707e-02 1.20746157e-03 9.95577461e-01 -1.84927331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:-55.37, Z:-18.50 [[ 9.63764737e-01 2.50657060e-01 9.12609964e-02 2.57894527e+02] [-2.48186048e-01 9.67979610e-01 -3.76717491e-02 -5.53708053e+01] [-9.77814735e-02 1.36569973e-02 9.95114199e-01 -1.85031623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.92, Y:-55.39, Z:-18.50 [[ 9.64836475e-01 2.44817477e-01 9.56816568e-02 2.57915712e+02] [-2.44942659e-01 9.69479429e-01 -1.06174552e-02 -5.53909437e+01] [-9.53607366e-02 -1.31924114e-02 9.95355359e-01 -1.85033631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:-55.39, Z:-18.50 [[ 9.66276614e-01 2.40091806e-01 9.30882927e-02 2.57944609e+02] [-2.39146349e-01 9.70748813e-01 -2.13486685e-02 -5.53905252e+01] [-9.54909900e-02 -1.63300625e-03 9.95428955e-01 -1.85046388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.98, Y:-55.39, Z:-18.51 [[ 9.66554996e-01 2.39080402e-01 9.28008736e-02 2.57975429e+02] [-2.36256841e-01 9.70847617e-01 -4.04673839e-02 -5.53882449e+01] [-9.97704654e-02 1.71891109e-02 9.94861995e-01 -1.85143330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.00, Y:-55.40, Z:-18.52 [[ 9.67215524e-01 2.34452963e-01 9.76009125e-02 2.58000478e+02] [-2.33073484e-01 9.72125642e-01 -2.54653939e-02 -5.54043791e+01] [-1.00850787e-01 1.88233958e-03 9.94899782e-01 -1.85193526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-55.41, Z:-18.52 [[ 9.68332083e-01 2.29652030e-01 9.79434645e-02 2.58027892e+02] [-2.28238832e-01 9.73269876e-01 -2.55496256e-02 -5.54120429e+01] [-1.01192947e-01 2.38602020e-03 9.94863958e-01 -1.85227750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:258.05, Y:-55.42, Z:-18.52 [[ 9.69016590e-01 2.26853789e-01 9.76944581e-02 2.58053723e+02] [-2.26533495e-01 9.73895353e-01 -1.45057973e-02 -5.54247354e+01] [-9.84348738e-02 -8.07470875e-03 9.95110735e-01 -1.85229227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.08, Y:-55.43, Z:-18.52 [[ 9.69457263e-01 2.25915637e-01 9.54711534e-02 2.58081865e+02] [-2.25453524e-01 9.74126736e-01 -1.57419823e-02 -5.54312804e+01] [-9.65573630e-02 -6.26312893e-03 9.95307716e-01 -1.85220305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.11, Y:-55.42, Z:-18.53 [[ 9.69118763e-01 2.28765745e-01 9.20600732e-02 2.58114436e+02] [-2.25582067e-01 9.73240954e-01 -4.37581503e-02 -5.54244219e+01] [-9.96069994e-02 2.16397429e-02 9.94791519e-01 -1.85318270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:-55.45, Z:-18.54 [[ 9.69160837e-01 2.26530712e-01 9.70108671e-02 2.58136220e+02] [-2.25989524e-01 9.73986982e-01 -1.66761522e-02 -5.54474475e+01] [-9.82649823e-02 -5.76156605e-03 9.95143607e-01 -1.85350283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:-55.45, Z:-18.54 [[ 9.69037290e-01 2.27707867e-01 9.54769964e-02 2.58164904e+02] [-2.26590013e-01 9.73729472e-01 -2.25362093e-02 -5.54527980e+01] [-9.81004375e-02 2.04293390e-04 9.95176498e-01 -1.85366736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:-55.46, Z:-18.54 [[ 9.69018305e-01 2.27939098e-01 9.51172587e-02 2.58193158e+02] [-2.26644774e-01 9.73673276e-01 -2.43412589e-02 -5.54590713e+01] [-9.81614576e-02 2.02929582e-03 9.95168433e-01 -1.85399373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:-55.46, Z:-18.55 [[ 9.68598637e-01 2.29579042e-01 9.54470732e-02 2.58222459e+02] [-2.27238490e-01 9.73215147e-01 -3.48560718e-02 -5.54631039e+01] [-1.00892761e-01 1.20722948e-02 9.94824060e-01 -1.85468160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:-55.48, Z:-18.55 [[ 9.68493205e-01 2.28489676e-01 9.90625026e-02 2.58246744e+02] [-2.27828183e-01 9.73533253e-01 -1.80921154e-02 -5.54803699e+01] [-1.00574502e-01 -5.04713913e-03 9.94916728e-01 -1.85480000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:-55.48, Z:-18.55 [[ 9.67979737e-01 2.31454867e-01 9.71795899e-02 2.58277248e+02] [-2.29329302e-01 9.72800967e-01 -3.26550168e-02 -5.54817640e+01] [-1.02094562e-01 9.32326710e-03 9.94731007e-01 -1.85535663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:-55.51, Z:-18.55 [[ 9.68191815e-01 2.29084856e-01 1.00621757e-01 2.58300721e+02] [-2.29754547e-01 9.73235560e-01 -5.03922898e-03 -5.55051950e+01] [-9.90830831e-02 -1.82393659e-02 9.94911990e-01 -1.85497609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:-55.49, Z:-18.56 [[ 9.67530402e-01 2.34691398e-01 9.38342601e-02 2.58334744e+02] [-2.31344441e-01 9.71819551e-01 -4.52383669e-02 -5.54922593e+01] [-1.01807024e-01 2.20614609e-02 9.94559511e-01 -1.85590468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.36, Y:-55.51, Z:-18.56 [[ 9.67334429e-01 2.33588617e-01 9.84909173e-02 2.58359217e+02] [-2.32180346e-01 9.72333500e-01 -2.56875972e-02 -5.55137581e+01] [-1.01766349e-01 1.98084192e-03 9.94806356e-01 -1.85645172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.39, Y:-55.52, Z:-18.57 [[ 9.67186444e-01 2.33986784e-01 9.89978181e-02 2.58386172e+02] [-2.32566262e-01 9.72237829e-01 -2.58174069e-02 -5.55238052e+01] [-1.02290356e-01 1.94669352e-03 9.94752680e-01 -1.85692124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-55.53, Z:-18.57 [[ 9.67052284e-01 2.34520706e-01 9.90450335e-02 2.58413718e+02] [-2.33102022e-01 9.72109293e-01 -2.58257728e-02 -5.55347784e+01] [-1.02339276e-01 1.88727495e-03 9.94747762e-01 -1.85728761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:-55.55, Z:-18.58 [[ 9.66658690e-01 2.36039603e-01 9.92788140e-02 2.58438838e+02] [-2.35182677e-01 9.71736722e-01 -2.04169538e-02 -5.55500452e+01] [-1.01292079e-01 -3.61243144e-03 9.94850172e-01 -1.85755776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:-55.56, Z:-18.58 [[ 9.66325301e-01 2.37779828e-01 9.83675049e-02 2.58467700e+02] [-2.36562344e-01 9.71319078e-01 -2.40313661e-02 -5.55570725e+01] [-1.01260408e-01 -4.79303877e-05 9.94859954e-01 -1.85783451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:-55.56, Z:-18.58 [[ 9.65997101e-01 2.39617371e-01 9.71242291e-02 2.58497431e+02] [-2.37628949e-01 9.70837956e-01 -3.17198159e-02 -5.55621776e+01] [-1.01892507e-01 7.56172174e-03 9.94766675e-01 -1.85834857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:-55.58, Z:-18.59 [[ 9.65639624e-01 2.40287622e-01 9.90049252e-02 2.58523789e+02] [-2.38898294e-01 9.70700872e-01 -2.58345271e-02 -5.55750141e+01] [-1.02311884e-01 1.29473528e-03 9.94751528e-01 -1.85872756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:-55.59, Z:-18.59 [[ 9.64890096e-01 2.42998785e-01 9.96929899e-02 2.58548908e+02] [-2.42102595e-01 9.70019526e-01 -2.11767099e-02 -5.55885233e+01] [-1.01850062e-01 -3.70273399e-03 9.94792870e-01 -1.85897195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:258.58, Y:-55.60, Z:-18.59 [[ 9.64925003e-01 2.43062092e-01 9.91995853e-02 2.58576481e+02] [-2.43368519e-01 9.69890399e-01 -9.18572815e-03 -5.56047057e+01] [-9.84454277e-02 -1.52785173e-02 9.95025158e-01 -1.85864795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:-55.60, Z:-18.60 [[ 9.64090995e-01 2.47904995e-01 9.52453018e-02 2.58606450e+02] [-2.45288261e-01 9.68687371e-01 -3.84505600e-02 -5.55978953e+01] [-1.01795007e-01 1.37072842e-02 9.94710956e-01 -1.85955921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:258.63, Y:-55.61, Z:-18.60 [[ 9.63654553e-01 2.49433942e-01 9.56692814e-02 2.58633357e+02] [-2.47477188e-01 9.68365393e-01 -3.19922877e-02 -5.56136186e+01] [-1.00622784e-01 7.15354899e-03 9.94898931e-01 -1.86010612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:-55.63, Z:-18.60 [[ 9.63279815e-01 2.49480228e-01 9.92552925e-02 2.58657030e+02] [-2.48825706e-01 9.68359534e-01 -1.91201662e-02 -5.56303310e+01] [-1.00884912e-01 -6.27919804e-03 9.94878287e-01 -1.86044760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.69, Y:-55.64, Z:-18.61 [[ 9.62999484e-01 2.51248761e-01 9.74989913e-02 2.58685148e+02] [-2.49983340e-01 9.67922541e-01 -2.51849963e-02 -5.56357648e+01] [-1.00699170e-01 -1.19985022e-04 9.94916912e-01 -1.86077846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:-55.64, Z:-18.61 [[ 9.62494860e-01 2.53741941e-01 9.60139092e-02 2.58714837e+02] [-2.51872929e-01 9.67253622e-01 -3.13122605e-02 -5.56445058e+01] [-1.00815035e-01 5.95458525e-03 9.94887366e-01 -1.86129144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:-55.66, Z:-18.62 [[ 9.62260231e-01 2.54011348e-01 9.76395576e-02 2.58741054e+02] [-2.52730243e-01 9.67201225e-01 -2.54796869e-02 -5.56565606e+01] [-1.00909229e-01 -1.58379652e-04 9.94895624e-01 -1.86162435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.77, Y:-55.67, Z:-18.61 [[ 9.62421879e-01 2.52675401e-01 9.94950676e-02 2.58766083e+02] [-2.53149914e-01 9.67393684e-01 -8.03628287e-03 -5.56744995e+01] [-9.82814710e-02 -1.74528734e-02 9.95005603e-01 -1.86116710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.80, Y:-55.66, Z:-18.62 [[ 9.61830240e-01 2.57128246e-01 9.36357582e-02 2.58798460e+02] [-2.54194981e-01 9.66231200e-01 -4.22158626e-02 -5.56637801e+01] [-1.01328682e-01 1.68027535e-02 9.94711097e-01 -1.86222338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:-55.69, Z:-18.63 [[ 9.61415851e-01 2.55907656e-01 1.00949657e-01 2.58820619e+02] [-2.55252646e-01 9.66676251e-01 -1.95732617e-02 -5.56879611e+01] [-1.02594583e-01 -6.94962292e-03 9.94698977e-01 -1.86283478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:-55.69, Z:-18.63 [[ 9.61643536e-01 2.56999447e-01 9.58800972e-02 2.58851059e+02] [-2.55150299e-01 9.66395214e-01 -3.12828273e-02 -5.56886911e+01] [-1.00697736e-01 5.61909321e-03 9.94901197e-01 -1.86301646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:-55.70, Z:-18.63 [[ 9.61632615e-01 2.56434110e-01 9.74897964e-02 2.58877075e+02] [-2.55170685e-01 9.66561621e-01 -2.54274389e-02 -5.57001715e+01] [-1.00750358e-01 -4.24683497e-04 9.94911647e-01 -1.86344029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:-55.71, Z:-18.64 [[ 9.61369450e-01 2.55860646e-01 1.01509165e-01 2.58902465e+02] [-2.55280974e-01 9.66682522e-01 -1.88818963e-02 -5.57121098e+01] [-1.02958269e-01 -7.76088011e-03 9.94655399e-01 -1.86390385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:-55.72, Z:-18.64 [[ 9.61555657e-01 2.56342882e-01 9.84837356e-02 2.58930060e+02] [-2.54948863e-01 9.66585746e-01 -2.67034365e-02 -5.57152686e+01] [-1.02038211e-01 5.68523925e-04 9.94780318e-01 -1.86401108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:-55.72, Z:-18.64 [[ 9.62062931e-01 2.55204970e-01 9.64641895e-02 2.58960903e+02] [-2.53334436e-01 9.66869909e-01 -3.13726334e-02 -5.57204942e+01] [-1.01274774e-01 5.74474655e-03 9.94841906e-01 -1.86442850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:-55.74, Z:-18.65 [[ 9.62605847e-01 2.50586013e-01 1.02939953e-01 2.58983004e+02] [-2.50856884e-01 9.67967045e-01 -1.05177801e-02 -5.57425819e+01] [-1.02278091e-01 -1.56987193e-02 9.94631963e-01 -1.86450554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:-55.75, Z:-18.65 [[ 9.62724899e-01 2.50480396e-01 1.02080066e-01 2.59011995e+02] [-2.49819338e-01 9.68097739e-01 -1.94181689e-02 -5.57470271e+01] [-1.03687352e-01 -6.80721986e-03 9.94586645e-01 -1.86468717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:-55.76, Z:-18.66 [[ 9.62063742e-01 2.49591397e-01 1.10170284e-01 2.59037431e+02] [-2.48717358e-01 9.68330093e-01 -2.18290188e-02 -5.57561969e+01] [-1.12129536e-01 -6.40035431e-03 9.93672986e-01 -1.86592194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:-55.75, Z:-18.65 [[ 9.63216548e-01 2.49915650e-01 9.87727204e-02 2.59071946e+02] [-2.47274102e-01 9.68186898e-01 -3.83360022e-02 -5.57546968e+01] [-1.05211221e-01 1.25019359e-02 9.94371309e-01 -1.86538668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:-55.76, Z:-18.66 [[ 9.63782604e-01 2.48244626e-01 9.74561353e-02 2.59103125e+02] [-2.45276241e-01 9.68563159e-01 -4.15327911e-02 -5.57612746e+01] [-1.04702714e-01 1.61249071e-02 9.94372832e-01 -1.86603775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:-55.80, Z:-18.66 [[ 9.63937314e-01 2.41992752e-01 1.10744579e-01 2.59123928e+02] [-2.43344231e-01 9.69939049e-01 -1.35117957e-03 -5.57976436e+01] [-1.07742468e-01 -2.56466021e-02 9.93847983e-01 -1.86637850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:-55.79, Z:-18.66 [[ 9.64620741e-01 2.44990382e-01 9.73988611e-02 2.59160965e+02] [-2.42670935e-01 9.69470892e-01 -3.51711166e-02 -5.57877546e+01] [-1.03041946e-01 1.02909159e-02 9.94623775e-01 -1.86623875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:-55.80, Z:-18.68 [[ 9.64334032e-01 2.44595841e-01 1.01157048e-01 2.59188940e+02] [-2.42278377e-01 9.69583020e-01 -3.47844230e-02 -5.57987045e+01] [-1.06588281e-01 9.03563736e-03 9.94262187e-01 -1.86752250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.22, Y:-55.82, Z:-18.68 [[ 9.64690190e-01 2.42983435e-01 1.01645892e-01 2.59215917e+02] [-2.41557866e-01 9.70030097e-01 -2.62946289e-02 -5.58158179e+01] [-1.04988734e-01 8.12805722e-04 9.94473079e-01 -1.86796619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:-55.82, Z:-18.68 [[ 9.65058837e-01 2.42980416e-01 9.80915881e-02 2.59249357e+02] [-2.40940867e-01 9.70001837e-01 -3.23099787e-02 -5.58226461e+01] [-1.02999713e-01 7.54675819e-03 9.94652756e-01 -1.86821948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:259.28, Y:-55.84, Z:-18.69 [[ 9.64982843e-01 2.42902518e-01 9.90276744e-02 2.59278191e+02] [-2.41515715e-01 9.70050059e-01 -2.59430576e-02 -5.58361735e+01] [-1.02363435e-01 1.11786582e-03 9.94746439e-01 -1.86862466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:-55.85, Z:-18.69 [[ 9.64460235e-01 2.44740949e-01 9.95907783e-02 2.59308440e+02] [-2.43346821e-01 9.69588049e-01 -2.61024938e-02 -5.58499159e+01] [-1.02950378e-01 9.39718029e-04 9.94686049e-01 -1.86892963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:-55.86, Z:-18.69 [[ 9.64056946e-01 2.46348568e-01 9.95318472e-02 2.59338999e+02] [-2.44962441e-01 9.69180975e-01 -2.61082518e-02 -5.58600230e+01] [-1.02896103e-01 7.88277270e-04 9.94691797e-01 -1.86927271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.37, Y:-55.87, Z:-18.70 [[ 9.63611262e-01 2.48280831e-01 9.90452686e-02 2.59370306e+02] [-2.46916461e-01 9.68687912e-01 -2.59998029e-02 -5.58689330e+01] [-1.02399207e-01 5.97795690e-04 9.94743206e-01 -1.86969985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:-55.88, Z:-18.70 [[ 9.62970209e-01 2.50614123e-01 9.94029093e-02 2.59400319e+02] [-2.49250094e-01 9.68086992e-01 -2.61145005e-02 -5.58789421e+01] [-1.02775326e-01 3.71301518e-04 9.94704526e-01 -1.87005349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:-55.89, Z:-18.71 [[ 9.61511000e-01 2.56215550e-01 9.92481187e-02 2.59431015e+02] [-2.54883551e-01 9.66619650e-01 -2.60926618e-02 -5.58902352e+01] [-1.02620527e-01 -2.08331573e-04 9.94720556e-01 -1.87051244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:-55.90, Z:-18.71 [[ 9.60742918e-01 2.59088885e-01 9.92269880e-02 2.59461313e+02] [-2.57770453e-01 9.65853356e-01 -2.61091427e-02 -5.58998159e+01] [-1.02603308e-01 -4.93611688e-04 9.94722231e-01 -1.87091085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:-55.91, Z:-18.71 [[ 9.60071937e-01 2.61784052e-01 9.86457625e-02 2.59491422e+02] [-2.60494024e-01 9.65126170e-01 -2.59680375e-02 -5.59085206e+01] [-1.02003625e-01 -7.65447609e-04 9.94783733e-01 -1.87126417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.52, Y:-55.92, Z:-18.72 [[ 9.59560801e-01 2.64179930e-01 9.72215739e-02 2.59521497e+02] [-2.62937291e-01 9.64472909e-01 -2.56123012e-02 -5.59166340e+01] [-1.00533830e-01 -9.86616950e-04 9.94933151e-01 -1.87162999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:-55.94, Z:-18.71 [[ 9.58673083e-01 2.66331530e-01 1.00067157e-01 2.59549607e+02] [-2.66916059e-01 9.63688627e-01 -7.74904325e-03 -5.59371134e+01] [-9.84973960e-02 -1.92807321e-02 9.94950510e-01 -1.87126483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:-55.93, Z:-18.73 [[ 9.57426907e-01 2.71834383e-01 9.71585607e-02 2.59581902e+02] [-2.69461492e-01 9.62299501e-01 -3.70158660e-02 -5.59287641e+01] [-1.03557820e-01 9.25949546e-03 9.94580333e-01 -1.87256315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:-55.95, Z:-18.73 [[ 9.57283171e-01 2.71945829e-01 9.82567937e-02 2.59610904e+02] [-2.70880948e-01 9.62306644e-01 -2.42782779e-02 -5.59450468e+01] [-1.01155542e-01 -3.37470656e-03 9.94864899e-01 -1.87256946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:-55.95, Z:-18.73 [[ 9.56342837e-01 2.75464531e-01 9.76097889e-02 2.59641050e+02] [-2.73386815e-01 9.61291634e-01 -3.43226529e-02 -5.59474588e+01] [-1.03286147e-01 6.13899393e-03 9.94632739e-01 -1.87317916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:-55.96, Z:-18.74 [[ 9.55993277e-01 2.75727711e-01 1.00255091e-01 2.59668603e+02] [-2.74463929e-01 9.61233222e-01 -2.64621458e-02 -5.59592515e+01] [-1.03664871e-01 -2.21877267e-03 9.94609809e-01 -1.87351683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:-55.97, Z:-18.74 [[ 9.55642131e-01 2.76835988e-01 1.00548266e-01 2.59697079e+02] [-2.75570725e-01 9.60914325e-01 -2.65411968e-02 -5.59661574e+01] [-1.03965827e-01 -2.34427266e-03 9.94578107e-01 -1.87389943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:-55.97, Z:-18.74 [[ 9.55184548e-01 2.78587768e-01 1.00056661e-01 2.59725292e+02] [-2.77344562e-01 9.60407459e-01 -2.64103405e-02 -5.59733243e+01] [-1.03452761e-01 -2.52342169e-03 9.94631167e-01 -1.87431046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.75, Y:-55.98, Z:-18.75 [[ 9.55105320e-01 2.79117900e-01 9.93329039e-02 2.59754428e+02] [-2.77895768e-01 9.60253415e-01 -2.62167969e-02 -5.59804454e+01] [-1.02702338e-01 -2.56439138e-03 9.94708829e-01 -1.87463040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:-55.99, Z:-18.75 [[ 9.55041762e-01 2.79325325e-01 9.93609333e-02 2.59782911e+02] [-2.78103880e-01 9.60193030e-01 -2.62216800e-02 -5.59870857e+01] [-1.02730055e-01 -2.58986163e-03 9.94705900e-01 -1.87506287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.81, Y:-55.99, Z:-18.75 [[ 9.55265021e-01 2.78949502e-01 9.82645125e-02 2.59812057e+02] [-2.77753187e-01 9.60302456e-01 -2.59298889e-02 -5.59910687e+01] [-1.01596782e-01 -2.52336567e-03 9.94822460e-01 -1.87545989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:-56.00, Z:-18.76 [[ 9.55469040e-01 2.78347366e-01 9.79880439e-02 2.59840663e+02] [-2.77154878e-01 9.60477339e-01 -2.58545026e-02 -5.59969799e+01] [-1.01311828e-01 -2.45468750e-03 9.94851691e-01 -1.87581552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:-56.00, Z:-18.76 [[ 9.55802461e-01 2.77284141e-01 9.77505076e-02 2.59868858e+02] [-2.76092131e-01 9.60785115e-01 -2.57895032e-02 -5.60033153e+01] [-1.01068253e-01 -2.33847537e-03 9.94876746e-01 -1.87611646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:-56.01, Z:-18.77 [[ 9.56318448e-01 2.75163182e-01 9.86926975e-02 2.59896745e+02] [-2.73937168e-01 9.61395158e-01 -2.60341820e-02 -5.60084029e+01] [-1.02046330e-01 -2.13862955e-03 9.94777348e-01 -1.87652056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:-56.01, Z:-18.77 [[ 9.56696578e-01 2.73691315e-01 9.91197354e-02 2.59923758e+02] [-2.72447110e-01 9.61815518e-01 -2.61434880e-02 -5.60133730e+01] [-1.02490145e-01 -1.99349994e-03 9.94732022e-01 -1.87679577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:-56.02, Z:-18.77 [[ 9.57093508e-01 2.72277374e-01 9.91818921e-02 2.59952941e+02] [-2.71024816e-01 9.62217027e-01 -2.61522913e-02 -5.60184558e+01] [-1.02555183e-01 -1.85056576e-03 9.94725595e-01 -1.87711874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:-56.03, Z:-18.77 [[ 9.57096796e-01 2.72265567e-01 9.91825763e-02 2.59981913e+02] [-2.71013215e-01 9.62220365e-01 -2.61496963e-02 -5.60260554e+01] [-1.02555157e-01 -1.85199823e-03 9.94725595e-01 -1.87747687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:-56.03, Z:-18.78 [[ 9.57449494e-01 2.70934138e-01 9.94241378e-02 2.60009961e+02] [-2.69668596e-01 9.62596361e-01 -2.62124889e-02 -5.60307042e+01] [-1.02807171e-01 -1.71443340e-03 9.94699827e-01 -1.87776776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:-56.04, Z:-18.78 [[ 9.58324814e-01 2.67772715e-01 9.95556363e-02 2.60039606e+02] [-2.66487210e-01 9.63481119e-01 -2.62431082e-02 -5.60350550e+01] [-1.02947164e-01 -1.38088191e-03 9.94685867e-01 -1.87817987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:-56.04, Z:-18.79 [[ 9.58854942e-01 2.65861374e-01 9.95737454e-02 2.60067924e+02] [-2.64565381e-01 9.64010551e-01 -2.62453342e-02 -5.60414207e+01] [-1.02967762e-01 -1.17829756e-03 9.94683996e-01 -1.87856955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:-56.06, Z:-18.78 [[ 9.59621836e-01 2.62293883e-01 1.01626032e-01 2.60094393e+02] [-2.62427814e-01 9.64873367e-01 -1.22893860e-02 -5.60555806e+01] [-1.01279682e-01 -1.48763343e-02 9.94746762e-01 -1.87833208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:-56.04, Z:-18.79 [[ 9.60467461e-01 2.61020289e-01 9.68021916e-02 2.60127812e+02] [-2.58307557e-01 9.65242866e-01 -3.97921625e-02 -5.60444995e+01] [-1.03824187e-01 1.32143397e-02 9.94507878e-01 -1.87911124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:-56.06, Z:-18.80 [[ 9.61091494e-01 2.57365512e-01 1.00330126e-01 2.60157423e+02] [-2.56003079e-01 9.66314091e-01 -2.64480865e-02 -5.60590483e+01] [-1.03757240e-01 -2.65790131e-04 9.94602616e-01 -1.87951539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:-56.07, Z:-18.80 [[ 9.61587783e-01 2.55423483e-01 1.00537459e-01 2.60188133e+02] [-2.54042840e-01 9.66829273e-01 -2.65215541e-02 -5.60657449e+01] [-1.03976787e-01 -3.80192434e-05 9.94579724e-01 -1.87990838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:-56.07, Z:-18.80 [[ 9.62119487e-01 2.53622949e-01 1.00007465e-01 2.60220469e+02] [-2.52245455e-01 9.67303143e-01 -2.63981060e-02 -5.60735746e+01] [-1.03432701e-01 1.71703676e-04 9.94636440e-01 -1.88028182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:-56.08, Z:-18.81 [[ 9.62732793e-01 2.51315464e-01 9.99305128e-02 2.60251919e+02] [-2.49925494e-01 9.67905132e-01 -2.63989330e-02 -5.60802109e+01] [-1.03357716e-01 4.39935713e-04 9.94644152e-01 -1.88076576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:-56.09, Z:-18.81 [[ 9.62876444e-01 2.50932801e-01 9.95072039e-02 2.60281996e+02] [-2.49550282e-01 9.68004379e-01 -2.63092757e-02 -5.60862282e+01] [-1.02925269e-01 5.00530963e-04 9.94688966e-01 -1.88111058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:-56.09, Z:-18.81 [[ 9.62899506e-01 2.50915980e-01 9.93262929e-02 2.60311635e+02] [-2.49538260e-01 9.68008739e-01 -2.62628768e-02 -5.60916172e+01] [-1.02738495e-01 5.02800789e-04 9.94708273e-01 -1.88143879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:-56.09, Z:-18.82 [[ 9.62476293e-01 2.52699389e-01 9.89060367e-02 2.60342530e+02] [-2.51342784e-01 9.67544791e-01 -2.61511420e-02 -5.60949075e+01] [-1.02304398e-01 3.10535602e-04 9.94753092e-01 -1.88173563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:-56.11, Z:-18.81 [[ 9.62627846e-01 2.51282653e-01 1.01018112e-01 2.60369049e+02] [-2.52175779e-01 9.67673014e-01 -4.03903524e-03 -5.61115934e+01] [-9.87674403e-02 -2.15862332e-02 9.94876388e-01 -1.88111860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:-56.09, Z:-18.82 [[ 9.61729249e-01 2.57665699e-01 9.31946307e-02 2.60404854e+02] [-2.54275181e-01 9.65999186e-01 -4.67942920e-02 -5.60931889e+01] [-1.02083221e-01 2.13063576e-02 9.94547664e-01 -1.88236365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.43, Y:-56.12, Z:-18.82 [[ 9.61497172e-01 2.55358303e-01 1.01564389e-01 2.60426951e+02] [-2.55727882e-01 9.66701280e-01 -9.58567640e-03 -5.61191361e+01] [-1.00630207e-01 -1.67562453e-02 9.94782785e-01 -1.88224286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.46, Y:-56.11, Z:-18.83 [[ 9.61045420e-01 2.59447506e-01 9.52821699e-02 2.60460943e+02] [-2.56519949e-01 9.65625940e-01 -4.20007148e-02 -5.61067075e+01] [-1.02903916e-01 1.59228172e-02 9.94563848e-01 -1.88307054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.49, Y:-56.12, Z:-18.84 [[ 9.60996356e-01 2.57905320e-01 9.98541451e-02 2.60486356e+02] [-2.56549166e-01 9.66170167e-01 -2.64146559e-02 -5.61209260e+01] [-1.03288576e-01 -2.33109632e-04 9.94651404e-01 -1.88353013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:-56.12, Z:-18.84 [[ 9.61118902e-01 2.57518904e-01 9.96718131e-02 2.60515829e+02] [-2.56166063e-01 9.66273241e-01 -2.63623240e-02 -5.61239321e+01] [-1.03099003e-01 -1.95208048e-04 9.94671080e-01 -1.88390550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:-56.13, Z:-18.84 [[ 9.61402305e-01 2.56423149e-01 9.97636014e-02 2.60543654e+02] [-2.55062179e-01 9.66564619e-01 -2.63841342e-02 -5.61302338e+01] [-1.03193470e-01 -8.01541059e-05 9.94661300e-01 -1.88424811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:-56.14, Z:-18.84 [[ 9.61872965e-01 2.53299698e-01 1.03148736e-01 2.60568513e+02] [-2.53620255e-01 9.67249928e-01 -1.02148431e-02 -5.61448893e+01] [-1.02358025e-01 -1.63352274e-02 9.94613490e-01 -1.88396865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.60, Y:-56.15, Z:-18.84 [[ 9.62759164e-01 2.50896987e-01 1.00724845e-01 2.60598730e+02] [-2.50226580e-01 9.67992067e-01 -1.94426740e-02 -5.61453273e+01] [-1.02378959e-01 -6.48542087e-03 9.94724328e-01 -1.88377643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:-56.15, Z:-18.84 [[ 9.63273376e-01 2.49742074e-01 9.86574835e-02 2.60626760e+02] [-2.48326697e-01 9.68311773e-01 -2.65737068e-02 -5.61480066e+01] [-1.02167775e-01 1.09845730e-03 9.94766575e-01 -1.88400644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:-56.16, Z:-18.85 [[ 9.63387907e-01 2.47471326e-01 1.03158536e-01 2.60652948e+02] [-2.46342924e-01 9.68891889e-01 -2.37417701e-02 -5.61575682e+01] [-1.05824876e-01 -2.53984123e-03 9.94381539e-01 -1.88503326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:260.69, Y:-56.15, Z:-18.86 [[ 9.64519100e-01 2.47067044e-01 9.30633195e-02 2.60688053e+02] [-2.43301076e-01 9.68659982e-01 -5.00242582e-02 -5.61494827e+01] [-1.02506059e-01 2.56069467e-02 9.94402731e-01 -1.88577708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.71, Y:-56.19, Z:-18.86 [[ 9.65039204e-01 2.40195043e-01 1.04907943e-01 2.60709841e+02] [-2.41398962e-01 9.70425145e-01 -1.25678705e-03 -5.61860172e+01] [-1.02107180e-01 -2.41118198e-02 9.94481143e-01 -1.88570938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.74, Y:-56.18, Z:-18.86 [[ 9.65103095e-01 2.43792991e-01 9.56085402e-02 2.60744859e+02] [-2.41704155e-01 9.69787649e-01 -3.30305591e-02 -5.61760599e+01] [-1.00772600e-01 8.76891339e-03 9.94870840e-01 -1.88582546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.77, Y:-56.19, Z:-18.86 [[ 9.64998827e-01 2.43445418e-01 9.75273965e-02 2.60771007e+02] [-2.41738366e-01 9.69903978e-01 -2.91347901e-02 -5.61862909e+01] [-1.01684941e-01 4.53892485e-03 9.94806298e-01 -1.88648184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.80, Y:-56.19, Z:-18.87 [[ 9.64487625e-01 2.46426771e-01 9.50655926e-02 2.60802358e+02] [-2.43555086e-01 9.69024515e-01 -4.08950889e-02 -5.61889784e+01] [-1.02198534e-01 1.62890986e-02 9.94630647e-01 -1.88735270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.83, Y:-56.21, Z:-18.87 [[ 9.64278060e-01 2.44541105e-01 1.01820777e-01 2.60825952e+02] [-2.44869828e-01 9.69509889e-01 -9.45206665e-03 -5.62147599e+01] [-1.01027669e-01 -1.58184157e-02 9.94757854e-01 -1.88730524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.86, Y:-56.20, Z:-18.88 [[ 9.63022961e-01 2.51816788e-01 9.57866504e-02 2.60860138e+02] [-2.48804739e-01 9.67625882e-01 -4.23834129e-02 -5.62045938e+01] [-1.03358497e-01 1.69840273e-02 9.94499152e-01 -1.88793869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.88, Y:-56.23, Z:-18.89 [[ 9.62179880e-01 2.50583095e-01 1.06854999e-01 2.60880508e+02] [-2.50605003e-01 9.67996095e-01 -1.34421868e-02 -5.62295035e+01] [-1.06803607e-01 -1.38445958e-02 9.94183744e-01 -1.88851551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.91, Y:-56.22, Z:-18.89 [[ 9.61977458e-01 2.55348953e-01 9.69344274e-02 2.60914698e+02] [-2.52584437e-01 9.66747655e-01 -4.00009349e-02 -5.62219617e+01] [-1.03925327e-01 1.39958699e-02 9.94486622e-01 -1.88866576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:-56.24, Z:-18.89 [[ 9.61555803e-01 2.54586831e-01 1.02936788e-01 2.60939891e+02] [-2.54407544e-01 9.66979388e-01 -1.50885558e-02 -5.62437244e+01] [-1.03379100e-01 -1.16794071e-02 9.94573453e-01 -1.88884969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.97, Y:-56.24, Z:-18.89 [[ 9.60492591e-01 2.60911598e-01 9.68458564e-02 2.60973069e+02] [-2.58440191e-01 9.65300538e-01 -3.74638320e-02 -5.62362883e+01] [-1.03260106e-01 1.09548715e-02 9.94594059e-01 -1.88941708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:-56.26, Z:-18.90 [[ 9.59736306e-01 2.60273028e-01 1.05660655e-01 2.60995089e+02] [-2.60073302e-01 9.65457827e-01 -1.59079247e-02 -5.62566373e+01] [-1.06151310e-01 -1.22121027e-02 9.94274994e-01 -1.89008769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.02, Y:-56.26, Z:-18.89 [[ 9.59773816e-01 2.62344179e-01 1.00048761e-01 2.61023368e+02] [-2.61914585e-01 9.64929814e-01 -1.76409927e-02 -5.62625755e+01] [-1.01168044e-01 -9.27286675e-03 9.94826136e-01 -1.88942148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:-56.25, Z:-18.90 [[ 9.59127615e-01 2.66465940e-01 9.52371804e-02 2.61055974e+02] [-2.63268022e-01 9.63675829e-01 -4.49315614e-02 -5.62537484e+01] [-1.03750500e-01 1.80221973e-02 9.94440061e-01 -1.89035856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:-56.27, Z:-18.91 [[ 9.58585225e-01 2.66602296e-01 1.00187735e-01 2.61080500e+02] [-2.65278752e-01 9.63805975e-01 -2.65560792e-02 -5.62691857e+01] [-1.03641449e-01 -1.12141200e-03 9.94614092e-01 -1.89087961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.11, Y:-56.29, Z:-18.90 [[ 9.58724917e-01 2.65822955e-01 1.00919224e-01 2.61106259e+02] [-2.66262372e-01 9.63855346e-01 -9.33920438e-03 -5.62850712e+01] [-9.97541087e-02 -1.79172641e-02 9.94850788e-01 -1.89045510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.14, Y:-56.27, Z:-18.91 [[ 9.57920468e-01 2.70977083e-01 9.46562091e-02 2.61138669e+02] [-2.68072188e-01 9.62465018e-01 -4.24074432e-02 -5.62712893e+01] [-1.02594735e-01 1.52482608e-02 9.94606360e-01 -1.89137953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.16, Y:-56.29, Z:-18.92 [[ 9.57628992e-01 2.70198772e-01 9.96962256e-02 2.61163243e+02] [-2.68908680e-01 9.62803373e-01 -2.64156533e-02 -5.62872977e+01] [-1.03125339e-01 -1.51278495e-03 9.94667219e-01 -1.89203524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264000000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.19, Y:-56.30, Z:-18.92 [[ 9.58348885e-01 2.67557217e-01 9.99027070e-02 2.61188496e+02] [-2.68200473e-01 9.63336317e-01 -7.18659428e-03 -5.63038640e+01] [-9.81627309e-02 -1.99066886e-02 9.94971257e-01 -1.89162253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.22, Y:-56.30, Z:-18.92 [[ 9.58401562e-01 2.69254510e-01 9.47019224e-02 2.61217784e+02] [-2.67948102e-01 9.63069057e-01 -2.64916203e-02 -5.62991266e+01] [-9.83374794e-02 1.44098453e-05 9.95153124e-01 -1.89177576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:-56.31, Z:-18.92 [[ 9.59284840e-01 2.65843094e-01 9.53941551e-02 2.61244668e+02] [-2.65100585e-01 9.64000508e-01 -2.06082407e-02 -5.63073180e+01] [-9.74385725e-02 -5.51987345e-03 9.95226233e-01 -1.89205677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.28, Y:-56.30, Z:-18.93 [[ 9.59395225e-01 2.66250947e-01 9.31194655e-02 2.61275161e+02] [-2.62886967e-01 9.63684907e-01 -4.69237949e-02 -5.62983985e+01] [-1.02231328e-01 2.05385709e-02 9.94548602e-01 -1.89330976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.30, Y:-56.33, Z:-18.93 [[ 9.60678820e-01 2.58913028e-01 1.00300791e-01 2.61297424e+02] [-2.59501223e-01 9.65714690e-01 -7.36569639e-03 -5.63289752e+01] [-9.87690216e-02 -1.89521093e-02 9.94929896e-01 -1.89305082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:261.33, Y:-56.31, Z:-18.94 [[ 9.61559496e-01 2.57655143e-01 9.49587480e-02 2.61329807e+02] [-2.54491842e-01 9.66062079e-01 -4.42488587e-02 -5.63143768e+01] [-1.03136992e-01 1.83816836e-02 9.94497297e-01 -1.89399350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:261.35, Y:-56.35, Z:-18.94 [[ 9.62698128e-01 2.50553062e-01 1.02154186e-01 2.61352623e+02] [-2.51272814e-01 9.67897890e-01 -5.97050292e-03 -5.63450587e+01] [-1.00370749e-01 -1.99207778e-02 9.94750660e-01 -1.89372106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:261.39, Y:-56.33, Z:-18.95 [[ 9.63143085e-01 2.51392086e-01 9.56943888e-02 2.61385954e+02] [-2.47961218e-01 9.67658475e-01 -4.63930008e-02 -5.63309943e+01] [-1.04262320e-01 2.09546007e-02 9.94329057e-01 -1.89457551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:-56.36, Z:-18.95 [[ 9.63525584e-01 2.46797150e-01 1.03487270e-01 2.61408562e+02] [-2.46206946e-01 9.69038000e-01 -1.86411819e-02 -5.63569964e+01] [-1.04883688e-01 -7.51802904e-03 9.94456078e-01 -1.89499845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:-56.36, Z:-18.95 [[ 9.63868658e-01 2.46592830e-01 1.00743169e-01 2.61439117e+02] [-2.45351605e-01 9.69118772e-01 -2.47264262e-02 -5.63621867e+01] [-1.03729456e-01 -8.84470997e-04 9.94605157e-01 -1.89529056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:261.47, Y:-56.36, Z:-18.96 [[ 9.64092217e-01 2.46861276e-01 9.79066305e-02 2.61471864e+02] [-2.44438664e-01 9.68988740e-01 -3.62016638e-02 -5.63631317e+01] [-1.03807211e-01 1.09695763e-02 9.94536943e-01 -1.89604659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:-56.39, Z:-18.96 [[ 9.64372475e-01 2.43194729e-01 1.04125177e-01 2.61494805e+02] [-2.43533721e-01 9.69844514e-01 -9.64086677e-03 -5.63897587e+01] [-1.03329840e-01 -1.60606053e-02 9.94517472e-01 -1.89591089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.52, Y:-56.39, Z:-18.97 [[ 9.63680700e-01 2.46065678e-01 1.03784348e-01 2.61524273e+02] [-2.44066579e-01 9.69238898e-01 -3.17405692e-02 -5.63873934e+01] [-1.08402092e-01 5.25748310e-03 9.94093228e-01 -1.89707588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.55, Y:-56.40, Z:-18.97 [[ 9.63712855e-01 2.47031487e-01 1.01158178e-01 2.61553707e+02] [-2.44988367e-01 9.68986408e-01 -3.23425525e-02 -5.63972451e+01] [-1.06010528e-01 6.38635682e-03 9.94344499e-01 -1.89713128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.58, Y:-56.41, Z:-18.98 [[ 9.63452009e-01 2.47409618e-01 1.02706905e-01 2.61582718e+02] [-2.45884127e-01 9.68910233e-01 -2.74582741e-02 -5.64101246e+01] [-1.06307212e-01 1.20073172e-03 9.94332608e-01 -1.89754697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.61, Y:-56.42, Z:-18.98 [[ 9.62598636e-01 2.50898396e-01 1.02244122e-01 2.61613021e+02] [-2.49692877e-01 9.68011720e-01 -2.46328578e-02 -5.64211496e+01] [-1.05153853e-01 -1.81807365e-03 9.94454304e-01 -1.89784124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:-56.43, Z:-18.98 [[ 9.62076525e-01 2.53262674e-01 1.01325106e-01 2.61643023e+02] [-2.51941990e-01 9.67397318e-01 -2.58391823e-02 -5.64288242e+01] [-1.04565737e-01 -6.68778201e-04 9.94517752e-01 -1.89815056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.67, Y:-56.44, Z:-18.98 [[ 9.61570919e-01 2.54580348e-01 1.02811545e-01 2.61671193e+02] [-2.54428824e-01 9.66978150e-01 -1.48064683e-02 -5.64441638e+01] [-1.03185953e-01 -1.19207511e-02 9.94590647e-01 -1.89809337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:-56.44, Z:-18.99 [[ 9.59495499e-01 2.63683514e-01 9.91937046e-02 2.61704409e+02] [-2.60100595e-01 9.64402529e-01 -4.77015948e-02 -5.64357457e+01] [-1.08240784e-01 1.99691240e-02 9.93924125e-01 -1.89917036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.72, Y:-56.47, Z:-18.99 [[ 9.59013761e-01 2.61602222e-01 1.08889319e-01 2.61724889e+02] [-2.62703008e-01 9.64866861e-01 -4.36695683e-03 -5.64686944e+01] [-1.06206101e-01 -2.44175799e-02 9.94044288e-01 -1.89889260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:-56.45, Z:-19.00 [[ 9.57774335e-01 2.68666929e-01 1.02403147e-01 2.61758015e+02] [-2.65660881e-01 9.63142510e-01 -4.21995469e-02 -5.64535254e+01] [-1.09966447e-01 1.32131327e-02 9.93847470e-01 -1.89981176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.78, Y:-56.47, Z:-19.01 [[ 9.56263005e-01 2.69886226e-01 1.12794014e-01 2.61781144e+02] [-2.69411672e-01 9.62823178e-01 -1.97200048e-02 -5.64744400e+01] [-1.13922848e-01 -1.15305128e-02 9.93422685e-01 -1.90068263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:-56.48, Z:-19.01 [[ 9.56215068e-01 2.71007870e-01 1.10487458e-01 2.61810743e+02] [-2.69438292e-01 9.62575329e-01 -2.91846293e-02 -5.64761365e+01] [-1.14261766e-01 -1.86276980e-03 9.93448931e-01 -1.90100873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:-56.48, Z:-19.01 [[ 9.56265907e-01 2.74114056e-01 1.02063700e-01 2.61840869e+02] [-2.71504564e-01 9.61650290e-01 -3.89100497e-02 -5.64772119e+01] [-1.08815378e-01 9.49759366e-03 9.94016604e-01 -1.90097245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:-56.50, Z:-19.01 [[ 9.56540261e-01 2.71957743e-01 1.05212717e-01 2.61864430e+02] [-2.72205253e-01 9.62160874e-01 -1.22781334e-02 -5.64991760e+01] [-1.04570693e-01 -1.68949253e-02 9.94373940e-01 -1.90067819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:-56.50, Z:-19.01 [[ 9.56245655e-01 2.74216845e-01 1.01977293e-01 2.61895384e+02] [-2.72985903e-01 9.61663605e-01 -2.61114603e-02 -5.64982456e+01] [-1.05228054e-01 -2.86939313e-03 9.94443977e-01 -1.90098342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.92, Y:-56.50, Z:-19.02 [[ 9.55483013e-01 2.76465322e-01 1.03049202e-01 2.61923416e+02] [-2.73636676e-01 9.60962001e-01 -4.09267867e-02 -5.64972886e+01] [-1.10341204e-01 1.09068084e-02 9.93833920e-01 -1.90219558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.95, Y:-56.52, Z:-19.02 [[ 9.55924050e-01 2.73280333e-01 1.07364195e-01 2.61948399e+02] [-2.73482027e-01 9.61787510e-01 -1.31288058e-02 -5.65211123e+01] [-1.06849386e-01 -1.68120365e-02 9.94133072e-01 -1.90192734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.98, Y:-56.52, Z:-19.02 [[ 9.55993800e-01 2.75249541e-01 1.01555621e-01 2.61980064e+02] [-2.73470217e-01 9.61370364e-01 -3.13219402e-02 -5.65168368e+01] [-1.06253914e-01 2.17114287e-03 9.94336659e-01 -1.90214010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:-56.53, Z:-19.04 [[ 9.55404414e-01 2.73945327e-01 1.10255903e-01 2.62003268e+02] [-2.72811029e-01 9.61728518e-01 -2.55421380e-02 -5.65269081e+01] [-1.13033396e-01 -5.67595500e-03 9.93574977e-01 -1.90377819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:-56.53, Z:-19.03 [[ 9.56492448e-01 2.73492135e-01 1.01608308e-01 2.62033018e+02] [-2.72067142e-01 9.61873761e-01 -2.78987168e-02 -5.65324204e+01] [-1.05364445e-01 -9.59370027e-04 9.94433212e-01 -1.90297170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:-56.54, Z:-19.04 [[ 9.57138065e-01 2.70354919e-01 1.03898714e-01 2.62059345e+02] [-2.69088395e-01 9.62756664e-01 -2.62876601e-02 -5.65415287e+01] [-1.07136177e-01 -2.79701799e-03 9.94240422e-01 -1.90355906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.09, Y:-56.54, Z:-19.05 [[ 9.57117713e-01 2.71091861e-01 1.02151290e-01 2.62089647e+02] [-2.67709458e-01 9.62413137e-01 -4.57449357e-02 -5.65365707e+01] [-1.10712823e-01 1.64364218e-02 9.93716516e-01 -1.90467993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:-56.55, Z:-19.05 [[ 9.57675421e-01 2.67497122e-01 1.06315935e-01 2.62115660e+02] [-2.65532767e-01 9.63554352e-01 -3.24862994e-02 -5.65506380e+01] [-1.11131174e-01 2.88096593e-03 9.93801571e-01 -1.90526439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:-56.57, Z:-19.05 [[ 9.58302402e-01 2.62624334e-01 1.12627556e-01 2.62138330e+02] [-2.63799316e-01 9.64566574e-01 -4.60931851e-03 -5.65738739e+01] [-1.09847295e-01 -2.52939512e-02 9.93626584e-01 -1.90493251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:-56.55, Z:-19.06 [[ 9.58728758e-01 2.64813600e-01 1.03503262e-01 2.62173330e+02] [-2.60745375e-01 9.64044527e-01 -5.12835277e-02 -5.65533584e+01] [-1.13362329e-01 2.21789959e-02 9.93306133e-01 -1.90598748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.20, Y:-56.57, Z:-19.07 [[ 9.59142968e-01 2.60918338e-01 1.09390981e-01 2.62197829e+02] [-2.59298601e-01 9.65360737e-01 -2.90324632e-02 -5.65739678e+01] [-1.13176860e-01 -5.18645386e-04 9.93574723e-01 -1.90655133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.23, Y:-56.58, Z:-19.07 [[ 9.59240129e-01 2.60488019e-01 1.09564443e-01 2.62226799e+02] [-2.58860509e-01 9.65476966e-01 -2.90768931e-02 -5.65813710e+01] [-1.13356128e-01 -4.70184830e-04 9.93554310e-01 -1.90695582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:-56.59, Z:-19.07 [[ 9.58967933e-01 2.59760709e-01 1.13599636e-01 2.62254172e+02] [-2.58959480e-01 9.65637286e-01 -2.20140540e-02 -5.65936935e+01] [-1.15414430e-01 -8.30693067e-03 9.93282691e-01 -1.90743272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.29, Y:-56.59, Z:-19.08 [[ 9.58940847e-01 2.62441581e-01 1.07502877e-01 2.62286515e+02] [-2.59984462e-01 9.64921977e-01 -3.65192870e-02 -5.65923521e+01] [-1.13316068e-01 7.07075826e-03 9.93533831e-01 -1.90762846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.31, Y:-56.61, Z:-19.07 [[ 9.59253370e-01 2.59470404e-01 1.11839530e-01 2.62311196e+02] [-2.59955973e-01 9.65563649e-01 -1.04752499e-02 -5.66134757e+01] [-1.10706202e-01 -1.90249351e-02 9.93671067e-01 -1.90739584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:-56.60, Z:-19.08 [[ 9.58637202e-01 2.63749199e-01 1.07009693e-01 2.62342982e+02] [-2.60801007e-01 9.64524847e-01 -4.09225372e-02 -5.66011940e+01] [-1.14006794e-01 1.13216309e-02 9.93415458e-01 -1.90844174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:-56.61, Z:-19.09 [[ 9.58990787e-01 2.62481442e-01 1.06958697e-01 2.62369909e+02] [-2.60729812e-01 9.64936336e-01 -3.02957428e-02 -5.66142138e+01] [-1.11160403e-01 1.16601732e-03 9.93801794e-01 -1.90888503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:-56.62, Z:-19.09 [[ 9.58803971e-01 2.62525411e-01 1.08514299e-01 2.62396970e+02] [-2.60897120e-01 9.64925027e-01 -2.91956395e-02 -5.66224367e+01] [-1.12372760e-01 -3.18173010e-04 9.93666071e-01 -1.90935767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:-56.64, Z:-19.10 [[ 9.58443654e-01 2.61420282e-01 1.14215574e-01 2.62422512e+02] [-2.60859873e-01 9.65167558e-01 -2.00925830e-02 -5.66353017e+01] [-1.15489776e-01 -1.05366515e-02 9.93252783e-01 -1.90994245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:262.45, Y:-56.64, Z:-19.09 [[ 9.59001767e-01 2.62168999e-01 1.07624470e-01 2.62454789e+02] [-2.61331448e-01 9.64996853e-01 -2.20669009e-02 -5.66400733e+01] [-1.09642532e-01 -6.96346164e-03 9.93946691e-01 -1.90934344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.49, Y:-56.63, Z:-19.10 [[ 9.58423080e-01 2.64736204e-01 1.06489166e-01 2.62485136e+02] [-2.61435346e-01 9.64212923e-01 -4.41021347e-02 -5.66343522e+01] [-1.14353662e-01 1.44284717e-02 9.93335321e-01 -1.91040733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:-56.65, Z:-19.11 [[ 9.58629177e-01 2.63390914e-01 1.07959841e-01 2.62512915e+02] [-2.61339686e-01 9.64683177e-01 -3.29838873e-02 -5.66482022e+01] [-1.12834699e-01 3.40512564e-03 9.93607939e-01 -1.91084942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:-56.66, Z:-19.11 [[ 9.58665385e-01 2.63058993e-01 1.08446515e-01 2.62540057e+02] [-2.61475898e-01 9.64779480e-01 -2.88255083e-02 -5.66571411e+01] [-1.12209782e-01 -7.22132895e-04 9.93684278e-01 -1.91137333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:-56.66, Z:-19.12 [[ 9.58753244e-01 2.62955898e-01 1.07918546e-01 2.62567552e+02] [-2.61387919e-01 9.64807593e-01 -2.86821150e-02 -5.66642923e+01] [-1.11662764e-01 -7.09533196e-04 9.93745905e-01 -1.91176778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-56.67, Z:-19.12 [[ 9.58919635e-01 2.62448462e-01 1.07675153e-01 2.62593908e+02] [-2.60884787e-01 9.64945791e-01 -2.86137866e-02 -5.66714574e+01] [-1.11410330e-01 -6.52487483e-04 9.93774277e-01 -1.91213190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.62, Y:-56.69, Z:-19.12 [[ 9.59608043e-01 2.59442791e-01 1.08820227e-01 2.62622690e+02] [-2.59598600e-01 9.65629351e-01 -1.29816835e-02 -5.66910410e+01] [-1.08448009e-01 -1.57922507e-02 9.93976677e-01 -1.91189371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:-56.68, Z:-19.13 [[ 9.59192831e-01 2.62908812e-01 1.04058016e-01 2.62655129e+02] [-2.59673953e-01 9.64705022e-01 -4.37453726e-02 -5.66812434e+01] [-1.11886334e-01 1.49390915e-02 9.93608712e-01 -1.91283330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:-56.71, Z:-19.13 [[ 9.59552757e-01 2.58176355e-01 1.12265202e-01 2.62676921e+02] [-2.58889859e-01 9.65870066e-01 -8.42946616e-03 -5.67098114e+01] [-1.10609887e-01 -2.09758049e-02 9.93642525e-01 -1.91266838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:-56.69, Z:-19.13 [[ 9.59033230e-01 2.63532967e-01 1.03950173e-01 2.62710722e+02] [-2.59715549e-01 9.64444383e-01 -4.89373647e-02 -5.66923828e+01] [-1.13150770e-01 1.99350826e-02 9.93377821e-01 -1.91341828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.74, Y:-56.72, Z:-19.13 [[ 9.59231246e-01 2.59904651e-01 1.11017969e-01 2.62735653e+02] [-2.60178402e-01 9.65482600e-01 -1.22697816e-02 -5.67220833e+01] [-1.10374890e-01 -1.71149198e-02 9.93742654e-01 -1.91329215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.77, Y:-56.72, Z:-19.14 [[ 9.58638790e-01 2.63949442e-01 1.06500530e-01 2.62767219e+02] [-2.61995628e-01 9.64531980e-01 -3.21923865e-02 -5.67179379e+01] [-1.11220330e-01 2.95819713e-03 9.93791370e-01 -1.91367313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:-56.72, Z:-19.15 [[ 9.57787365e-01 2.66962671e-01 1.06650343e-01 2.62795423e+02] [-2.63939082e-01 9.63633706e-01 -4.17880550e-02 -5.67191616e+01] [-1.13927716e-01 1.18748774e-02 9.93418070e-01 -1.91452586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:-56.73, Z:-19.15 [[ 9.56572749e-01 2.69467368e-01 1.11157160e-01 2.62821759e+02] [-2.67843438e-01 9.63008382e-01 -2.95761486e-02 -5.67325270e+01] [-1.15015083e-01 -1.48097798e-03 9.93362641e-01 -1.91493505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.85, Y:-56.74, Z:-19.15 [[ 9.56033712e-01 2.71422055e-01 1.11038774e-01 2.62848681e+02] [-2.69815361e-01 9.62458888e-01 -2.95391277e-02 -5.67384403e+01] [-1.14887826e-01 -1.71956498e-03 9.93376983e-01 -1.91527491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:-56.75, Z:-19.16 [[ 9.54688161e-01 2.73848733e-01 1.16522049e-01 2.62874633e+02] [-2.73620588e-01 9.61664279e-01 -1.82644223e-02 -5.67499030e+01] [-1.17056781e-01 -1.44460038e-02 9.93020152e-01 -1.91586544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.91, Y:-56.74, Z:-19.16 [[ 9.54506468e-01 2.78233013e-01 1.07255741e-01 2.62906390e+02] [-2.75343276e-01 9.60463959e-01 -4.11711583e-02 -5.67406924e+01] [-1.14470449e-01 9.76598983e-03 9.93378650e-01 -1.91584903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:-56.75, Z:-19.16 [[ 9.54191529e-01 2.78009515e-01 1.10585879e-01 2.62931890e+02] [-2.76462304e-01 9.60575011e-01 -2.93980044e-02 -5.67527345e+01] [-1.14398956e-01 -2.52149999e-03 9.93431689e-01 -1.91627779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.96, Y:-56.76, Z:-19.17 [[ 9.53861593e-01 2.79093594e-01 1.10701520e-01 2.62958576e+02] [-2.77551363e-01 9.60260214e-01 -2.94204492e-02 -5.67570713e+01] [-1.14513324e-01 -2.66232118e-03 9.93418145e-01 -1.91662547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.99, Y:-56.76, Z:-19.17 [[ 9.54009414e-01 2.78412379e-01 1.11142186e-01 2.62986575e+02] [-2.77790492e-01 9.60404244e-01 -2.13572017e-02 -5.67640205e+01] [-1.12687536e-01 -1.04992710e-02 9.93575002e-01 -1.91674348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.02, Y:-56.76, Z:-19.17 [[ 9.53860926e-01 2.80124046e-01 1.08073372e-01 2.63015490e+02] [-2.77715250e-01 9.59949081e-01 -3.70405344e-02 -5.67599223e+01] [-1.14120879e-01 5.31789492e-03 9.93452639e-01 -1.91732710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.04, Y:-56.78, Z:-19.18 [[ 9.54601674e-01 2.76220697e-01 1.11524753e-01 2.63041543e+02] [-2.75801239e-01 9.61017271e-01 -1.94803061e-02 -5.67751186e+01] [-1.12558077e-01 -1.21627322e-02 9.93570706e-01 -1.91764738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:-56.78, Z:-19.17 [[ 9.55144688e-01 2.75001913e-01 1.09875258e-01 2.63068497e+02] [-2.74452187e-01 9.61384420e-01 -2.03959101e-02 -5.67779730e+01] [-1.11241275e-01 -1.06744596e-02 9.93736099e-01 -1.91734211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:-56.77, Z:-19.18 [[ 9.55511233e-01 2.75144834e-01 1.06271367e-01 2.63100475e+02] [-2.71520632e-01 9.61261084e-01 -4.74728735e-02 -5.67655459e+01] [-1.15216445e-01 1.65059951e-02 9.93203264e-01 -1.91834183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:-56.78, Z:-19.19 [[ 9.56112071e-01 2.71105247e-01 1.11137989e-01 2.63124470e+02] [-2.69503415e-01 9.62548091e-01 -2.94801964e-02 -5.67808988e+01] [-1.14967895e-01 -1.76569594e-03 9.93367639e-01 -1.91892153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.15, Y:-56.79, Z:-19.19 [[ 9.56585037e-01 2.69304608e-01 1.11445483e-01 2.63152010e+02] [-2.67682703e-01 9.63053783e-01 -2.95530432e-02 -5.67851364e+01] [-1.15286765e-01 -1.56202925e-03 9.93331023e-01 -1.91924340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.18, Y:-56.79, Z:-19.20 [[ 9.57748799e-01 2.65420854e-01 1.10765555e-01 2.63180238e+02] [-2.63793807e-01 9.64132029e-01 -2.93642224e-02 -5.67869762e+01] [-1.14586497e-01 -1.09571877e-03 9.93412671e-01 -1.91958952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.21, Y:-56.79, Z:-19.20 [[ 9.58396362e-01 2.63398684e-01 1.09988847e-01 2.63207241e+02] [-2.61782167e-01 9.64686685e-01 -2.91495643e-02 -5.67919946e+01] [-1.13782733e-01 -8.56282377e-04 9.93505288e-01 -1.92012414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:-56.80, Z:-19.20 [[ 9.59005145e-01 2.61067784e-01 1.10239488e-01 2.63234584e+02] [-2.59429313e-01 9.65320292e-01 -2.92089873e-02 -5.67973745e+01] [-1.14041940e-01 -5.87785375e-04 9.93475762e-01 -1.92034765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:263.26, Y:-56.80, Z:-19.21 [[ 9.60147559e-01 2.57093633e-01 1.09633611e-01 2.63261483e+02] [-2.55448320e-01 9.66386490e-01 -2.90397560e-02 -5.68010328e+01] [-1.13414377e-01 -1.23270779e-04 9.93547766e-01 -1.92082436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:263.29, Y:-56.82, Z:-19.22 [[ 9.60093791e-01 2.53006936e-01 1.19194811e-01 2.63285349e+02] [-2.53221731e-01 9.67312764e-01 -1.35931004e-02 -5.68166922e+01] [-1.18737810e-01 -1.71320650e-02 9.92777833e-01 -1.92162438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:-56.80, Z:-19.21 [[ 9.61235769e-01 2.54748917e-01 1.05493060e-01 2.63321166e+02] [-2.51216528e-01 9.66849451e-01 -4.57427049e-02 -5.68028915e+01] [-1.13648811e-01 1.74679239e-02 9.93367414e-01 -1.92119947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.35, Y:-56.82, Z:-19.22 [[ 9.62304049e-01 2.48119118e-01 1.11390401e-01 2.63345219e+02] [-2.46928533e-01 9.68721876e-01 -2.45810249e-02 -5.68208661e+01] [-1.14005340e-01 -3.85104854e-03 9.93472673e-01 -1.92197438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:-56.83, Z:-19.23 [[ 9.62361186e-01 2.46272363e-01 1.14938553e-01 2.63369865e+02] [-2.45526839e-01 9.69166129e-01 -2.08227111e-02 -5.68295720e+01] [-1.16522611e-01 -8.18153072e-03 9.93154340e-01 -1.92252245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.40, Y:-56.82, Z:-19.22 [[ 9.62936082e-01 2.48120165e-01 1.05785096e-01 2.63401823e+02] [-2.44926633e-01 9.68614542e-01 -4.23888361e-02 -5.68232298e+01] [-1.12982508e-01 1.49081522e-02 9.93485128e-01 -1.92243964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:-56.84, Z:-19.23 [[ 9.63139309e-01 2.45681854e-01 1.09558652e-01 2.63425716e+02] [-2.43969856e-01 9.69349800e-01 -2.89771463e-02 -5.68385625e+01] [-1.13319816e-01 1.18002010e-03 9.93557863e-01 -1.92299174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:-56.85, Z:-19.23 [[ 9.63381693e-01 2.45038085e-01 1.08867127e-01 2.63451959e+02] [-2.43344400e-01 9.69512660e-01 -2.87872531e-02 -5.68454662e+01] [-1.12602032e-01 1.24090684e-03 9.93639393e-01 -1.92334095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.48, Y:-56.86, Z:-19.24 [[ 9.62999902e-01 2.43785836e-01 1.14889755e-01 2.63476954e+02] [-2.43346039e-01 9.69771479e-01 -1.80550401e-02 -5.68586668e+01] [-1.15818371e-01 -1.05709650e-02 9.93214156e-01 -1.92398459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:263.51, Y:-56.85, Z:-19.24 [[ 9.62900277e-01 2.48918276e-01 1.04224514e-01 2.63509516e+02] [-2.46104647e-01 9.68448420e-01 -3.92448807e-02 -5.68504614e+01] [-1.10704834e-01 1.21387691e-02 9.93779196e-01 -1.92407757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:-56.86, Z:-19.24 [[ 9.62376647e-01 2.49572292e-01 1.07447010e-01 2.63534944e+02] [-2.47953022e-01 9.68355929e-01 -2.83917763e-02 -5.68640951e+01] [-1.11132750e-01 6.81771757e-04 9.93805337e-01 -1.92447600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:-56.87, Z:-19.25 [[ 9.62385656e-01 2.49536937e-01 1.07448434e-01 2.63563079e+02] [-2.47918049e-01 9.68365042e-01 -2.83863845e-02 -5.68714471e+01] [-1.11132759e-01 6.80243125e-04 9.93805337e-01 -1.92485499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:-56.88, Z:-19.25 [[ 9.61791398e-01 2.51724720e-01 1.07666022e-01 2.63589733e+02] [-2.50113324e-01 9.67798783e-01 -2.84401167e-02 -5.68782233e+01] [-1.11358125e-01 4.24753041e-04 9.93780251e-01 -1.92521707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:263.62, Y:-56.88, Z:-19.26 [[ 9.61121641e-01 2.54431510e-01 1.07283730e-01 2.63616308e+02] [-2.52849115e-01 9.67090790e-01 -2.83324747e-02 -5.68839595e+01] [-1.10961781e-01 1.04358451e-04 9.93824669e-01 -1.92568445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.64, Y:-56.89, Z:-19.26 [[ 9.59672872e-01 2.59250098e-01 1.08707709e-01 2.63642765e+02] [-2.57656934e-01 9.65810110e-01 -2.87007780e-02 -5.68887338e+01] [-1.12431684e-01 -4.65937061e-04 9.93659348e-01 -1.92579599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.67, Y:-56.90, Z:-19.26 [[ 9.59009198e-01 2.61488736e-01 1.09201647e-01 2.63669518e+02] [-2.59897098e-01 9.65206240e-01 -2.88168980e-02 -5.68952477e+01] [-1.12937406e-01 -7.45521001e-04 9.93601825e-01 -1.92611121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.70, Y:-56.90, Z:-19.26 [[ 9.58413653e-01 2.63422322e-01 1.09781378e-01 2.63696744e+02] [-2.61827281e-01 9.64680106e-01 -2.89614919e-02 -5.69013266e+01] [-1.13533015e-01 -9.86670457e-04 9.93533734e-01 -1.92643263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.72, Y:-56.91, Z:-19.27 [[ 9.57875718e-01 2.65178294e-01 1.10247816e-01 2.63724199e+02] [-2.63582180e-01 9.64198638e-01 -2.90761332e-02 -5.69067337e+01] [-1.14011154e-01 -1.20803770e-03 9.93478735e-01 -1.92673343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:-56.91, Z:-19.27 [[ 9.57104620e-01 2.67620010e-01 1.11041775e-01 2.63751470e+02] [-2.66018094e-01 9.63523340e-01 -2.92770871e-02 -5.69096407e+01] [-1.14826476e-01 -1.51788600e-03 9.93384405e-01 -1.92702370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.78, Y:-56.92, Z:-19.27 [[ 9.56885263e-01 2.68369563e-01 1.11123223e-01 2.63778328e+02] [-2.66771492e-01 9.63314672e-01 -2.92884640e-02 -5.69151972e+01] [-1.14906764e-01 -1.61880848e-03 9.93374962e-01 -1.92735275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.81, Y:-56.92, Z:-19.28 [[ 9.56959869e-01 2.68472218e-01 1.10229200e-01 2.63805538e+02] [-2.66901474e-01 9.63286055e-01 -2.90444322e-02 -5.69213692e+01] [-1.13979875e-01 -1.62597998e-03 9.93481728e-01 -1.92795661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.83, Y:-56.94, Z:-19.29 [[ 9.56691634e-01 2.66294628e-01 1.17593741e-01 2.63828697e+02] [-2.66267755e-01 9.63762444e-01 -1.62306906e-02 -5.69358155e+01] [-1.17654577e-01 -1.57836554e-02 9.92929140e-01 -1.92858116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.86, Y:-56.92, Z:-19.28 [[ 9.57425635e-01 2.68851836e-01 1.05142018e-01 2.63861262e+02] [-2.65692057e-01 9.63087306e-01 -4.32501120e-02 -5.69247448e+01] [-1.12888815e-01 1.34733668e-02 9.93516273e-01 -1.92827147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:-56.94, Z:-19.29 [[ 9.58146660e-01 2.62423518e-01 1.14406620e-01 2.63884747e+02] [-2.62016620e-01 9.64879235e-01 -1.88507733e-02 -5.69445848e+01] [-1.15335458e-01 -1.19146304e-02 9.93255140e-01 -1.92915635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.91, Y:-56.94, Z:-19.29 [[ 9.58813593e-01 2.63349708e-01 1.06411585e-01 2.63914372e+02] [-2.60581937e-01 9.64648316e-01 -3.93786880e-02 -5.69394391e+01] [-1.13020122e-01 1.00278844e-02 9.93542094e-01 -1.92910771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.94, Y:-56.95, Z:-19.30 [[ 9.59528147e-01 2.59672023e-01 1.08977867e-01 2.63939099e+02] [-2.58086514e-01 9.65696664e-01 -2.86584072e-02 -5.69530790e+01] [-1.12681349e-01 -6.27169334e-04 9.93630978e-01 -1.92955963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:-56.96, Z:-19.30 [[ 9.60618276e-01 2.53951101e-01 1.12789033e-01 2.63964872e+02] [-2.52954897e-01 9.67197507e-01 -2.32981373e-02 -5.69629941e+01] [-1.15005859e-01 -6.14992174e-03 9.93345776e-01 -1.92995284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:263.99, Y:-56.96, Z:-19.30 [[ 9.61282167e-01 2.53728804e-01 1.07509490e-01 2.63993947e+02] [-2.51404642e-01 9.67253588e-01 -3.48741020e-02 -5.69627506e+01] [-1.12837504e-01 6.49546755e-03 9.93592224e-01 -1.93014269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:-56.97, Z:-19.30 [[ 9.61562386e-01 2.51600019e-01 1.09978220e-01 2.64019223e+02] [-2.49935025e-01 9.67831256e-01 -2.88988373e-02 -5.69735244e+01] [-1.13711307e-01 3.00625665e-04 9.93513789e-01 -1.93046194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.05, Y:-56.98, Z:-19.31 [[ 9.62086365e-01 2.50340266e-01 1.08257001e-01 2.64046141e+02] [-2.48720320e-01 9.68157820e-01 -2.84365686e-02 -5.69809794e+01] [-1.11928681e-01 4.32718903e-04 9.93716148e-01 -1.93086505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.07, Y:-56.99, Z:-19.31 [[ 9.61963848e-01 2.50708146e-01 1.08494152e-01 2.64072711e+02] [-2.49084160e-01 9.68062642e-01 -2.84921630e-02 -5.69883971e+01] [-1.12172352e-01 3.84256092e-04 9.93688692e-01 -1.93112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.10, Y:-57.00, Z:-19.31 [[ 9.61760229e-01 2.51580181e-01 1.08280540e-01 2.64099426e+02] [-2.49969088e-01 9.67836421e-01 -2.84274060e-02 -5.69954641e+01] [-1.11949622e-01 2.73560720e-04 9.93713846e-01 -1.93146296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.13, Y:-57.00, Z:-19.32 [[ 9.61406426e-01 2.52778168e-01 1.08631867e-01 2.64126155e+02] [-2.51164966e-01 9.67524254e-01 -2.85127823e-02 -5.70025849e+01] [-1.12311375e-01 1.27852821e-04 9.93673054e-01 -1.93180883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:-57.01, Z:-19.32 [[ 9.60667296e-01 2.55613471e-01 1.08536165e-01 2.64152717e+02] [-2.54022096e-01 9.66779038e-01 -2.84792248e-02 -5.70098500e+01] [-1.12210162e-01 -2.11524170e-04 9.93684474e-01 -1.93204363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.18, Y:-57.02, Z:-19.32 [[ 9.60153654e-01 2.57367979e-01 1.08934308e-01 2.64178670e+02] [-2.55777078e-01 9.66313377e-01 -2.85752396e-02 -5.70165849e+01] [-1.12619031e-01 -4.26278417e-04 9.93638150e-01 -1.93237872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.21, Y:-57.02, Z:-19.33 [[ 9.59729941e-01 2.59117527e-01 1.08519806e-01 2.64206101e+02] [-2.57551038e-01 9.65845588e-01 -2.84563483e-02 -5.70231910e+01] [-1.12186914e-01 -6.38979230e-04 9.93686916e-01 -1.93270719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:-57.03, Z:-19.33 [[ 9.59229537e-01 2.60970573e-01 1.08503716e-01 2.64233036e+02] [-2.59417305e-01 9.65346370e-01 -2.84437596e-02 -5.70297982e+01] [-1.12166652e-01 -8.63647291e-04 9.93689034e-01 -1.93309756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.26, Y:-57.04, Z:-19.33 [[ 9.58379027e-01 2.64152660e-01 1.08319034e-01 2.64258786e+02] [-2.62625854e-01 9.64480083e-01 -2.83871510e-02 -5.70352411e+01] [-1.11970092e-01 -1.24172852e-03 9.93710801e-01 -1.93346323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:-57.04, Z:-19.34 [[ 9.58086416e-01 2.64968352e-01 1.08913690e-01 2.64286425e+02] [-2.63431080e-01 9.64256158e-01 -2.85329235e-02 -5.70413293e+01] [-1.12581018e-01 -1.35424441e-03 9.93641626e-01 -1.93376718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.31, Y:-57.05, Z:-19.34 [[ 9.57884357e-01 2.65698050e-01 1.08913289e-01 2.64312378e+02] [-2.64166458e-01 9.64055210e-01 -2.85242731e-02 -5.70464436e+01] [-1.12577267e-01 -1.44828268e-03 9.93641918e-01 -1.93420270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.34, Y:-57.05, Z:-19.35 [[ 9.57986252e-01 2.65431483e-01 1.08666779e-01 2.64338979e+02] [-2.63906081e-01 9.64128677e-01 -2.84512716e-02 -5.70527288e+01] [-1.12320621e-01 -1.42189669e-03 9.93671000e-01 -1.93454351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:-57.06, Z:-19.35 [[ 9.58164550e-01 2.64964122e-01 1.08234507e-01 2.64365008e+02] [-2.63448819e-01 9.64257299e-01 -2.83298708e-02 -5.70588435e+01] [-1.11872313e-01 -1.36957522e-03 9.93721646e-01 -1.93482435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:-57.06, Z:-19.35 [[ 9.58981237e-01 2.62499687e-01 1.06999544e-01 2.64392461e+02] [-2.61004649e-01 9.64931474e-01 -2.79968418e-02 -5.70643410e+01] [-1.10596390e-01 -1.07893228e-03 9.93864817e-01 -1.93520471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.42, Y:-57.07, Z:-19.36 [[ 9.59425835e-01 2.61046255e-01 1.06568850e-01 2.64417935e+02] [-2.59555108e-01 9.65325860e-01 -2.78770441e-02 -5.70708886e+01] [-1.10150865e-01 -9.14533110e-04 9.93914458e-01 -1.93564540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.44, Y:-57.08, Z:-19.36 [[ 9.60180884e-01 2.58047412e-01 1.07071021e-01 2.64443514e+02] [-2.56525158e-01 9.66132076e-01 -2.79938332e-02 -5.70785629e+01] [-1.10668484e-01 -5.87267054e-04 9.93857204e-01 -1.93601363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.47, Y:-57.09, Z:-19.36 [[ 9.60441855e-01 2.56895580e-01 1.07499322e-01 2.64470278e+02] [-2.55355580e-01 9.66439051e-01 -2.80907168e-02 -5.70853920e+01] [-1.11107924e-01 -4.71051547e-04 9.93808235e-01 -1.93628174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:-57.09, Z:-19.37 [[ 9.60635552e-01 2.55884138e-01 1.08178761e-01 2.64496593e+02] [-2.54319071e-01 9.66707389e-01 -2.82601335e-02 -5.70911111e+01] [-1.11808527e-01 -3.64232894e-04 9.93729702e-01 -1.93661636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.52, Y:-57.10, Z:-19.37 [[ 9.60880281e-01 2.55350645e-01 1.07261988e-01 2.64523467e+02] [-2.53809852e-01 9.66848464e-01 -2.80108250e-02 -5.70967882e+01] [-1.10858671e-01 -3.09100015e-04 9.93836133e-01 -1.93690960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.55, Y:-57.10, Z:-19.37 [[ 9.61035096e-01 2.55113465e-01 1.06436201e-01 2.64550604e+02] [-2.53595631e-01 9.66911081e-01 -2.77888059e-02 -5.71032190e+01] [-1.10003641e-01 -2.85737899e-04 9.93931143e-01 -1.93730005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:-57.11, Z:-19.38 [[ 9.61140284e-01 2.55124453e-01 1.05455524e-01 2.64576827e+02] [-2.53635472e-01 9.66908180e-01 -2.75248845e-02 -5.71116972e+01] [-1.08988080e-01 -2.91986311e-04 9.94043014e-01 -1.93783235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.60, Y:-57.12, Z:-19.38 [[ 9.61214780e-01 2.55281747e-01 1.04390494e-01 2.64604115e+02] [-2.53824552e-01 9.66866656e-01 -2.72390523e-02 -5.71189062e+01] [-1.07885321e-01 -3.14290779e-04 9.94163296e-01 -1.93817415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.63, Y:-57.13, Z:-19.38 [[ 9.60881468e-01 2.56191160e-01 1.05227818e-01 2.64630072e+02] [-2.54716745e-01 9.66626043e-01 -2.74494702e-02 -5.71250692e+01] [-1.08748261e-01 -4.27600030e-04 9.94069229e-01 -1.93845705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:-57.13, Z:-19.39 [[ 9.60010212e-01 2.58575087e-01 1.07328085e-01 2.64656316e+02] [-2.57057008e-01 9.65990892e-01 -2.79873250e-02 -5.71302357e+01] [-1.10914778e-01 -7.21318686e-04 9.93829659e-01 -1.93861798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:-57.14, Z:-19.39 [[ 9.59622660e-01 2.59870746e-01 1.07664042e-01 2.64683555e+02] [-2.58352364e-01 9.65643006e-01 -2.80649397e-02 -5.71362967e+01] [-1.11258286e-01 -8.83507593e-04 9.93791132e-01 -1.93894879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:-57.14, Z:-19.39 [[ 9.59251210e-01 2.61427546e-01 1.07204264e-01 2.64711064e+02] [-2.59932736e-01 9.65222513e-01 -2.79369619e-02 -5.71424950e+01] [-1.10779460e-01 -1.06733312e-03 9.93844441e-01 -1.93930422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:-57.15, Z:-19.40 [[ 9.58529413e-01 2.63964400e-01 1.07443751e-01 2.64738165e+02] [-2.62479676e-01 9.64531448e-01 -2.79911605e-02 -5.71477361e+01] [-1.11021547e-01 -1.37145031e-03 9.93817053e-01 -1.93968891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:-57.15, Z:-19.40 [[ 9.58282935e-01 2.64813273e-01 1.07553463e-01 2.64763732e+02] [-2.63331726e-01 9.64298576e-01 -2.80117718e-02 -5.71537630e+01] [-1.11131540e-01 -1.47903615e-03 9.93804605e-01 -1.94008608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:-57.16, Z:-19.40 [[ 9.58108712e-01 2.65549791e-01 1.07289353e-01 2.64790321e+02] [-2.64081207e-01 9.64095869e-01 -2.79333555e-02 -5.71601735e+01] [-1.10854919e-01 -1.56991064e-03 9.93835360e-01 -1.94044468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:-57.16, Z:-19.41 [[ 9.57920806e-01 2.66278248e-01 1.07161674e-01 2.64817026e+02] [-2.64818594e-01 9.63894776e-01 -2.78921639e-02 -5.71641921e+01] [-1.10719655e-01 -1.65991980e-03 9.93850292e-01 -1.94074158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:-57.17, Z:-19.41 [[ 9.57999601e-01 2.66082327e-01 1.06943725e-01 2.64844641e+02] [-2.64628482e-01 9.63948907e-01 -2.78257420e-02 -5.71692881e+01] [-1.10492225e-01 -1.64330573e-03 9.93875630e-01 -1.94110358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.87, Y:-57.18, Z:-19.42 [[ 9.58191180e-01 2.65444518e-01 1.06812315e-01 2.64872027e+02] [-2.63991201e-01 9.64124849e-01 -2.77834618e-02 -5.71752046e+01] [-1.10355374e-01 -1.57564322e-03 9.93890944e-01 -1.94154810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.90, Y:-57.18, Z:-19.42 [[ 9.58664613e-01 2.63663060e-01 1.06976406e-01 2.64898086e+02] [-2.62195080e-01 9.64613853e-01 -2.78182370e-02 -5.71828692e+01] [-1.10525565e-01 -1.38032795e-03 9.93872323e-01 -1.94189811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-57.19, Z:-19.42 [[ 9.59020403e-01 2.62540446e-01 1.06547551e-01 2.64924676e+02] [-2.61078389e-01 9.64920172e-01 -2.76972155e-02 -5.71894818e+01] [-1.10081521e-01 -1.25506819e-03 9.93921769e-01 -1.94222727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.95, Y:-57.20, Z:-19.43 [[ 9.59507103e-01 2.60966675e-01 1.06030725e-01 2.64951910e+02] [-2.59510137e-01 9.65347209e-01 -2.75545745e-02 -5.71952391e+01] [-1.09547290e-01 -1.07723788e-03 9.93981001e-01 -1.94270373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.98, Y:-57.20, Z:-19.43 [[ 9.59993903e-01 2.58478622e-01 1.07705653e-01 2.64977747e+02] [-2.56960905e-01 9.66016635e-01 -2.79813244e-02 -5.72024245e+01] [-1.11278026e-01 -8.14241166e-04 9.93788981e-01 -1.94295092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:-57.21, Z:-19.43 [[ 9.60425884e-01 2.56833912e-01 1.07788970e-01 2.65004237e+02] [-2.55304650e-01 9.66455348e-01 -2.79927862e-02 -5.72101858e+01] [-1.11362723e-01 -6.34028753e-04 9.93779624e-01 -1.94325253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:-57.22, Z:-19.43 [[ 9.61007675e-01 2.54187474e-01 1.08871373e-01 2.65029367e+02] [-2.53576385e-01 9.67115665e-01 -1.96547204e-02 -5.72221466e+01] [-1.10287194e-01 -8.71887212e-03 9.93861518e-01 -1.94329673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:-57.22, Z:-19.44 [[ 9.61463852e-01 2.53427594e-01 1.06591349e-01 2.65059205e+02] [-2.50979620e-01 9.67322345e-01 -3.60098839e-02 -5.72209171e+01] [-1.12234092e-01 7.86994540e-03 9.93650629e-01 -1.94382745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:-57.23, Z:-19.44 [[ 9.61894055e-01 2.50956747e-01 1.08538190e-01 2.65083380e+02] [-2.49372754e-01 9.67998301e-01 -2.81517062e-02 -5.72337474e+01] [-1.12129644e-01 1.24915317e-05 9.93693586e-01 -1.94436341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:-57.24, Z:-19.45 [[ 9.62258819e-01 2.49792480e-01 1.07989273e-01 2.65108504e+02] [-2.48218125e-01 9.68299384e-01 -2.80011571e-02 -5.72420594e+01] [-1.11560426e-01 1.39465359e-04 9.93757642e-01 -1.94471644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.14, Y:-57.25, Z:-19.45 [[ 9.62566427e-01 2.48746442e-01 1.07661887e-01 2.65135160e+02] [-2.47176219e-01 9.68568606e-01 -2.79064844e-02 -5.72501462e+01] [-1.11219562e-01 2.50386976e-04 9.93795827e-01 -1.94510621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.16, Y:-57.26, Z:-19.45 [[ 9.62857964e-01 2.47701781e-01 1.07463339e-01 2.65161905e+02] [-2.46131773e-01 9.68836259e-01 -2.78469740e-02 -5.72580807e+01] [-1.11012124e-01 3.62538493e-04 9.93818986e-01 -1.94544719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.19, Y:-57.27, Z:-19.46 [[ 9.62886762e-01 2.47581652e-01 1.07482136e-01 2.65187939e+02] [-2.46011246e-01 9.68866962e-01 -2.78437956e-02 -5.72658898e+01] [-1.11029503e-01 3.68608080e-04 9.93817042e-01 -1.94582235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:-57.27, Z:-19.46 [[ 9.62777619e-01 2.48055738e-01 1.07366696e-01 2.65214031e+02] [-2.46492748e-01 9.68745714e-01 -2.78040816e-02 -5.72745377e+01] [-1.10907989e-01 3.04035474e-04 9.93830632e-01 -1.94612986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:-57.28, Z:-19.46 [[ 9.62379935e-01 2.49141549e-01 1.08412861e-01 2.65240717e+02] [-2.47555636e-01 9.68467066e-01 -2.80668545e-02 -5.72835724e+01] [-1.11986905e-01 1.72762842e-04 9.93709667e-01 -1.94637880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:-57.29, Z:-19.47 [[ 9.62394995e-01 2.49082459e-01 1.08414956e-01 2.65268097e+02] [-2.47497084e-01 9.68482266e-01 -2.80587590e-02 -5.72905351e+01] [-1.11986907e-01 1.71223720e-04 9.93709668e-01 -1.94674428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:-57.30, Z:-19.47 [[ 9.62189294e-01 2.49880565e-01 1.08404180e-01 2.65294313e+02] [-2.48301324e-01 9.68276664e-01 -2.80491380e-02 -5.72986790e+01] [-1.11974172e-01 7.16787719e-05 9.93711115e-01 -1.94709943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:-57.31, Z:-19.47 [[ 9.61780726e-01 2.51939451e-01 1.07258328e-01 2.65318744e+02] [-2.50407133e-01 9.67742984e-01 -2.77449993e-02 -5.73094654e+01] [-1.10788554e-01 -1.73644770e-04 9.93843985e-01 -1.94746127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:-57.32, Z:-19.48 [[ 9.61363998e-01 2.53480969e-01 1.07362296e-01 2.65345754e+02] [-2.51956652e-01 9.67340305e-01 -2.77593175e-02 -5.73178797e+01] [-1.10892335e-01 -3.63836109e-04 9.93832359e-01 -1.94778611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:-57.33, Z:-19.48 [[ 9.60807899e-01 2.55229966e-01 1.08193562e-01 2.65372244e+02] [-2.53693870e-01 9.66880205e-01 -2.79658706e-02 -5.73252732e+01] [-1.11747941e-01 -5.78213977e-04 9.93736415e-01 -1.94813526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:-57.33, Z:-19.48 [[ 9.60180458e-01 2.57345453e-01 1.08751119e-01 2.65399344e+02] [-2.55807914e-01 9.66319108e-01 -2.81014870e-02 -5.73328354e+01] [-1.12320074e-01 -8.36898220e-04 9.93671727e-01 -1.94844765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-57.34, Z:-19.49 [[ 9.58967015e-01 2.61748841e-01 1.08948652e-01 2.65425120e+02] [-2.60234918e-01 9.65135062e-01 -2.81442796e-02 -5.73417447e+01] [-1.12516897e-01 -1.36280764e-03 9.93648877e-01 -1.94879919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.45, Y:-57.35, Z:-19.49 [[ 9.58330429e-01 2.64207658e-01 1.08614462e-01 2.65451652e+02] [-2.62719884e-01 9.64464396e-01 -2.80480141e-02 -5.73492055e+01] [-1.12165282e-01 -1.65591348e-03 9.93688184e-01 -1.94909843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:-57.36, Z:-19.49 [[ 9.57723181e-01 2.66519454e-01 1.08322151e-01 2.65478428e+02] [-2.65055343e-01 9.63827608e-01 -2.79643828e-02 -5.73555118e+01] [-1.11856932e-01 -1.92922717e-03 9.93722449e-01 -1.94946865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:-57.36, Z:-19.50 [[ 9.56525109e-01 2.71155213e-01 1.07399098e-01 2.65504039e+02] [-2.69745971e-01 9.62532499e-01 -2.77182023e-02 -5.73613978e+01] [-1.10891058e-01 -2.45731766e-03 9.93829530e-01 -1.94986110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:-57.37, Z:-19.50 [[ 9.56023619e-01 2.73176638e-01 1.06739706e-01 2.65530808e+02] [-2.71798304e-01 9.61960144e-01 -2.75383894e-02 -5.73683642e+01] [-1.10202188e-01 -2.68432042e-03 9.93905565e-01 -1.95022487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:-57.38, Z:-19.51 [[ 9.55603089e-01 2.74812531e-01 1.06305265e-01 2.65558123e+02] [-2.73456382e-01 9.61493548e-01 -2.74183181e-02 -5.73754302e+01] [-1.09746724e-01 -2.86882373e-03 9.93955445e-01 -1.95061372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:-57.38, Z:-19.51 [[ 9.54900370e-01 2.76816056e-01 1.07415804e-01 2.65584131e+02] [-2.75444772e-01 9.60917801e-01 -2.76976068e-02 -5.73808990e+01] [-1.10884901e-01 -3.13866684e-03 9.93828299e-01 -1.95098369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:-57.39, Z:-19.51 [[ 9.54760588e-01 2.77065463e-01 1.08013652e-01 2.65611460e+02] [-2.75682218e-01 9.60845713e-01 -2.78357896e-02 -5.73869099e+01] [-1.11496791e-01 -3.20092847e-03 9.93759639e-01 -1.95125305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.64, Y:-57.39, Z:-19.52 [[ 9.54767232e-01 2.76940359e-01 1.08275440e-01 2.65638159e+02] [-2.75550480e-01 9.60881775e-01 -2.78952937e-02 -5.73928022e+01] [-1.11765230e-01 -3.20183716e-03 9.93729481e-01 -1.95155024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-57.40, Z:-19.52 [[ 9.55182970e-01 2.75317306e-01 1.08746840e-01 2.65663913e+02] [-2.73905865e-01 9.61348622e-01 -2.80072051e-02 -5.73989498e+01] [-1.12254493e-01 -3.03439194e-03 9.93674857e-01 -1.95188098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:-57.41, Z:-19.52 [[ 9.55661141e-01 2.73732403e-01 1.08546558e-01 2.65690806e+02] [-2.72317056e-01 9.61801662e-01 -2.79460852e-02 -5.74055065e+01] [-1.12050009e-01 -2.85209139e-03 9.93698476e-01 -1.95220813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-57.41, Z:-19.53 [[ 9.56127157e-01 2.72135991e-01 1.08456731e-01 2.65717254e+02] [-2.70713628e-01 9.62255097e-01 -2.79152095e-02 -5.74117922e+01] [-1.11959775e-01 -2.67022531e-03 9.93709152e-01 -1.95255968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:-57.42, Z:-19.53 [[ 9.56935683e-01 2.69326233e-01 1.08339645e-01 2.65743506e+02] [-2.67890029e-01 9.63046140e-01 -2.78758642e-02 -5.74188593e+01] [-1.11843779e-01 -2.34770149e-03 9.93723029e-01 -1.95290784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:-57.43, Z:-19.53 [[ 9.57277438e-01 2.68078357e-01 1.08415413e-01 2.65770622e+02] [-2.66633214e-01 9.63394571e-01 -2.78860109e-02 -5.74253404e+01] [-1.11922457e-01 -2.21250109e-03 9.93714480e-01 -1.95322757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.80, Y:-57.43, Z:-19.54 [[ 9.57585512e-01 2.66905187e-01 1.08589171e-01 2.65798034e+02] [-2.65448752e-01 9.63720535e-01 -2.79229519e-02 -5.74311752e+01] [-1.12102395e-01 -2.08624580e-03 9.93694470e-01 -1.95353587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:-57.44, Z:-19.54 [[ 9.58227614e-01 2.64770086e-01 1.08151010e-01 2.65823944e+02] [-2.63312774e-01 9.64309819e-01 -2.78020754e-02 -5.74367165e+01] [-1.11652239e-01 -1.83682612e-03 9.93745643e-01 -1.95391353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.85, Y:-57.44, Z:-19.54 [[ 9.58619489e-01 2.63564969e-01 1.07620545e-01 2.65850619e+02] [-2.62115489e-01 9.64640153e-01 -2.76558288e-02 -5.74426679e+01] [-1.11104207e-01 -1.69759540e-03 9.93807312e-01 -1.95430776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:-57.45, Z:-19.55 [[ 9.58787928e-01 2.62867444e-01 1.07825862e-01 2.65876894e+02] [-2.61408937e-01 9.64830585e-01 -2.77003717e-02 -5.74486452e+01] [-1.11315215e-01 -1.62786201e-03 9.93783816e-01 -1.95459672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:-57.45, Z:-19.55 [[ 9.59101918e-01 2.61877091e-01 1.07442545e-01 2.65904167e+02] [-2.60423873e-01 9.65100040e-01 -2.75920006e-02 -5.74536896e+01] [-1.10918518e-01 -1.51706312e-03 9.93828346e-01 -1.95489316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:265.93, Y:-57.46, Z:-19.55 [[ 9.59698843e-01 2.59616169e-01 1.07599144e-01 2.65930816e+02] [-2.58145344e-01 9.65711057e-01 -2.76249084e-02 -5.74576091e+01] [-1.11081556e-01 -1.26462555e-03 9.93810489e-01 -1.95534711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:-57.46, Z:-19.56 [[ 9.59709704e-01 2.59320536e-01 1.08213417e-01 2.65957808e+02] [-2.57832709e-01 9.65790500e-01 -2.77669512e-02 -5.74649382e+01] [-1.11712031e-01 -1.25274601e-03 9.93739832e-01 -1.95557131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.98, Y:-57.47, Z:-19.56 [[ 9.60101745e-01 2.58049883e-01 1.07772435e-01 2.65983808e+02] [-2.56567121e-01 9.66130959e-01 -2.76456624e-02 -5.74696620e+01] [-1.11256246e-01 -1.10821461e-03 9.93791135e-01 -1.95593220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:-57.47, Z:-19.56 [[ 9.60260052e-01 2.57502325e-01 1.07671651e-01 2.66011409e+02] [-2.56020022e-01 9.66277105e-01 -2.76098777e-02 -5.74747475e+01] [-1.11150259e-01 -1.05343584e-03 9.93803054e-01 -1.95624668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.04, Y:-57.48, Z:-19.57 [[ 9.60459015e-01 2.56804581e-01 1.07563410e-01 2.66038878e+02] [-2.55321828e-01 9.66462854e-01 -2.75738423e-02 -5.74784738e+01] [-1.11037129e-01 -9.79741046e-04 9.93815776e-01 -1.95662054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:-57.48, Z:-19.57 [[ 9.60313053e-01 2.57096278e-01 1.08168132e-01 2.66065346e+02] [-2.55599520e-01 9.66385249e-01 -2.77206853e-02 -5.74836593e+01] [-1.11658972e-01 -1.02718667e-03 9.93746054e-01 -1.95691343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:-57.49, Z:-19.57 [[ 9.60440543e-01 2.56701476e-01 1.07973680e-01 2.66092822e+02] [-2.55208726e-01 9.66490235e-01 -2.76610171e-02 -5.74873347e+01] [-1.11456131e-01 -9.89062993e-04 9.93768863e-01 -1.95724959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:-57.49, Z:-19.58 [[ 9.60588034e-01 2.56131193e-01 1.08015930e-01 2.66120371e+02] [-2.54634573e-01 9.66641581e-01 -2.76638555e-02 -5.74932787e+01] [-1.11498266e-01 -9.31021741e-04 9.93764192e-01 -1.95762016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:-57.50, Z:-19.58 [[ 9.60996563e-01 2.55033948e-01 1.06973323e-01 2.66147498e+02] [-2.53560282e-01 9.66931766e-01 -2.73887606e-02 -5.74993860e+01] [-1.10420968e-01 -8.03681028e-04 9.93884583e-01 -1.95801645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:-57.51, Z:-19.58 [[ 9.61450569e-01 2.53811835e-01 1.05793929e-01 2.66173424e+02] [-2.52364045e-01 9.67253386e-01 -2.70790760e-02 -5.75055224e+01] [-1.09202526e-01 -6.63390863e-04 9.94019300e-01 -1.95843880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:-57.51, Z:-19.59 [[ 9.62208748e-01 2.51308629e-01 1.04872771e-01 2.66200125e+02] [-2.49872202e-01 9.67906930e-01 -2.68338960e-02 -5.75121958e+01] [-1.08250672e-01 -3.84980735e-04 9.94123556e-01 -1.95883850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:-57.52, Z:-19.59 [[ 9.62469396e-01 2.50236856e-01 1.05043694e-01 2.66227562e+02] [-2.48790218e-01 9.68184611e-01 -2.68697934e-02 -5.75182959e+01] [-1.08425501e-01 -2.72489756e-04 9.94104540e-01 -1.95913568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.25, Y:-57.52, Z:-19.59 [[ 9.62636942e-01 2.49454860e-01 1.05367883e-01 2.66254165e+02] [-2.47995461e-01 9.68386408e-01 -2.69446804e-02 -5.75236093e+01] [-1.08758307e-01 -1.92811952e-04 9.94068204e-01 -1.95939310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.28, Y:-57.53, Z:-19.60 [[ 9.62755920e-01 2.48929130e-01 1.05524057e-01 2.66280818e+02] [-2.47463298e-01 9.68521692e-01 -2.69749627e-02 -5.75292072e+01] [-1.08917192e-01 -1.43026085e-04 9.94050816e-01 -1.95970508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.31, Y:-57.54, Z:-19.60 [[ 9.62994411e-01 2.47567947e-01 1.06545180e-01 2.66307510e+02] [-2.46066310e-01 9.68870534e-01 -2.72260785e-02 -5.75365695e+01] [-1.09968790e-01 1.38207060e-06 9.93935041e-01 -1.95998749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:266.33, Y:-57.54, Z:-19.60 [[ 9.63214796e-01 2.46663663e-01 1.06650335e-01 2.66334103e+02] [-2.45154428e-01 9.69101144e-01 -2.72447900e-02 -5.75424934e+01] [-1.10075261e-01 9.67830012e-05 9.93923250e-01 -1.96040809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:-57.55, Z:-19.61 [[ 9.63117960e-01 2.46940066e-01 1.06884981e-01 2.66360920e+02] [-2.45426767e-01 9.69030753e-01 -2.72965506e-02 -5.75499758e+01] [-1.10315446e-01 5.73628429e-05 9.93896624e-01 -1.96063241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.39, Y:-57.56, Z:-19.61 [[ 9.63089238e-01 2.47196942e-01 1.06549480e-01 2.66387591e+02] [-2.45695617e-01 9.68965258e-01 -2.72028015e-02 -5.75562573e+01] [-1.09967194e-01 1.99851260e-05 9.93935217e-01 -1.96094814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.41, Y:-57.56, Z:-19.61 [[ 9.63035251e-01 2.47204203e-01 1.07019566e-01 2.66413791e+02] [-2.45690493e-01 9.68963406e-01 -2.73148298e-02 -5.75633703e+01] [-1.10450384e-01 1.14541330e-05 9.93881639e-01 -1.96132344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:266.44, Y:-57.57, Z:-19.62 [[ 9.63130033e-01 2.46634484e-01 1.07480100e-01 2.66440429e+02] [-2.45105232e-01 9.69108573e-01 -2.74225860e-02 -5.75691364e+01] [-1.10923241e-01 6.75813074e-05 9.93828974e-01 -1.96180933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.47, Y:-57.58, Z:-19.62 [[ 9.63260097e-01 2.45877271e-01 1.08047919e-01 2.66466327e+02] [-2.44327929e-01 9.69300957e-01 -2.75593360e-02 -5.75767779e+01] [-1.11507166e-01 1.47684326e-04 9.93763619e-01 -1.96187907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:-57.58, Z:-19.62 [[ 9.63466993e-01 2.44817832e-01 1.08607470e-01 2.66491685e+02] [-2.43246738e-01 9.69569059e-01 -2.76923128e-02 -5.75842216e+01] [-1.12082014e-01 2.62216635e-04 9.93698925e-01 -1.96223716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:-57.59, Z:-19.63 [[ 9.63647348e-01 2.43933570e-01 1.08996340e-01 2.66518255e+02] [-2.42346644e-01 9.69791878e-01 -2.77816107e-02 -5.75925896e+01] [-1.12480633e-01 3.56778160e-04 9.93653853e-01 -1.96260763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:-57.60, Z:-19.63 [[ 9.64083228e-01 2.42194053e-01 1.09020959e-01 2.66543985e+02] [-2.40596233e-01 9.70227672e-01 -2.77797850e-02 -5.76022189e+01] [-1.12503250e-01 5.51992651e-04 9.93651203e-01 -1.96295394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:-57.61, Z:-19.63 [[ 9.64369587e-01 2.41402608e-01 1.08240847e-01 2.66570422e+02] [-2.39823582e-01 9.70424846e-01 -2.75729616e-02 -5.76104624e+01] [-1.11695793e-01 6.31817880e-04 9.93742246e-01 -1.96324643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.60, Y:-57.62, Z:-19.64 [[ 9.64694053e-01 2.40292720e-01 1.07818335e-01 2.66596680e+02] [-2.38720083e-01 9.70700184e-01 -2.74567676e-02 -5.76196697e+01] [-1.11256939e-01 7.48978533e-04 9.93791393e-01 -1.96366569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:-57.63, Z:-19.64 [[ 9.64645114e-01 2.40518208e-01 1.07753399e-01 2.66622621e+02] [-2.38949656e-01 9.70644363e-01 -2.74332396e-02 -5.76286504e+01] [-1.11188423e-01 7.15702927e-04 9.93799086e-01 -1.96402549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:-57.64, Z:-19.64 [[ 9.64656573e-01 2.40831380e-01 1.06948320e-01 2.66648577e+02] [-2.39288895e-01 9.70566742e-01 -2.72217651e-02 -5.76378742e+01] [-1.10356338e-01 6.68109289e-04 9.93891862e-01 -1.96444913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.67, Y:-57.65, Z:-19.65 [[ 9.64579769e-01 2.41442848e-01 1.06260151e-01 2.66674340e+02] [-2.39924779e-01 9.70414863e-01 -2.70387375e-02 -5.76471317e+01] [-1.09644740e-01 5.86575861e-04 9.93970667e-01 -1.96480799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.70, Y:-57.66, Z:-19.65 [[ 9.63821921e-01 2.44257792e-01 1.06702557e-01 2.66700594e+02] [-2.42745077e-01 9.69710299e-01 -2.71433975e-02 -5.76575511e+01] [-1.10100555e-01 2.59881071e-04 9.93920420e-01 -1.96519171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:-57.67, Z:-19.65 [[ 9.63214226e-01 2.46347195e-01 1.07384426e-01 2.66726893e+02] [-2.44828881e-01 9.69181644e-01 -2.73086041e-02 -5.76662420e+01] [-1.10802412e-01 1.32272407e-05 9.93842455e-01 -1.96546880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:-57.67, Z:-19.66 [[ 9.62683585e-01 2.48481147e-01 1.07226088e-01 2.66753127e+02] [-2.46981410e-01 9.68636703e-01 -2.72602514e-02 -5.76747809e+01] [-1.10636783e-01 -2.39853724e-04 9.93860878e-01 -1.96583453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:266.78, Y:-57.68, Z:-19.66 [[ 9.61670270e-01 2.52770595e-01 1.06288843e-01 2.66778561e+02] [-2.51324031e-01 9.67525962e-01 -2.70137813e-02 -5.76836155e+01] [-1.09665504e-01 -7.34590057e-04 9.93968278e-01 -1.96617896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:266.80, Y:-57.69, Z:-19.67 [[ 9.61095327e-01 2.54964871e-01 1.06248234e-01 2.66804768e+02] [-2.53533681e-01 9.66949807e-01 -2.69952455e-02 -5.76914510e+01] [-1.09619549e-01 -9.92501665e-04 9.93973123e-01 -1.96652464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:-57.70, Z:-19.67 [[ 9.60449968e-01 2.57310726e-01 1.06428609e-01 2.66829969e+02] [-2.55889903e-01 9.66327883e-01 -2.70329606e-02 -5.76998116e+01] [-1.09800803e-01 -1.27020014e-03 9.93952801e-01 -1.96680769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.86, Y:-57.71, Z:-19.67 [[ 9.59958317e-01 2.59300859e-01 1.06033456e-01 2.66856645e+02] [-2.57903774e-01 9.65795428e-01 -2.69227463e-02 -5.77068809e+01] [-1.09387719e-01 -1.50171430e-03 9.93998024e-01 -1.96715317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.88, Y:-57.71, Z:-19.67 [[ 9.58590776e-01 2.64234330e-01 1.06225903e-01 2.66882607e+02] [-2.62863214e-01 9.64456276e-01 -2.69633464e-02 -5.77136595e+01] [-1.09574881e-01 -2.07606712e-03 9.93976376e-01 -1.96747007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:-57.72, Z:-19.68 [[ 9.57952945e-01 2.66624452e-01 1.06007342e-01 2.66909871e+02] [-2.65274457e-01 9.63797628e-01 -2.68997146e-02 -5.77193780e+01] [-1.09341746e-01 -2.35237921e-03 9.94001433e-01 -1.96779304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:-57.73, Z:-19.68 [[ 9.57984994e-01 2.66508587e-01 1.06009079e-01 2.66937280e+02] [-2.65158642e-01 9.63829688e-01 -2.68928666e-02 -5.77261737e+01] [-1.09341877e-01 -2.34626076e-03 9.94001433e-01 -1.96815834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:-57.73, Z:-19.68 [[ 9.57354807e-01 2.68563552e-01 1.06514748e-01 2.66964776e+02] [-2.67214958e-01 9.63258438e-01 -2.70064335e-02 -5.77320022e+01] [-1.09854174e-01 -2.60759501e-03 9.93944295e-01 -1.96848373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:-57.74, Z:-19.69 [[ 9.56276231e-01 2.71574003e-01 1.08551050e-01 2.66991062e+02] [-2.70193466e-01 9.62412827e-01 -2.75143814e-02 -5.77362374e+01] [-1.11943114e-01 -3.01843545e-03 9.93710032e-01 -1.96875672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:-57.74, Z:-19.69 [[ 9.56017811e-01 2.72376750e-01 1.08815675e-01 2.67018020e+02] [-2.70995762e-01 9.62185591e-01 -2.75714695e-02 -5.77417978e+01] [-1.12210702e-01 -3.12977085e-03 9.93679507e-01 -1.96904936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.05, Y:-57.75, Z:-19.69 [[ 9.56046206e-01 2.72284718e-01 1.08796532e-01 2.67045066e+02] [-2.70904577e-01 9.62211649e-01 -2.75581805e-02 -5.77470935e+01] [-1.12188961e-01 -3.12658448e-03 9.93681972e-01 -1.96941689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:-57.75, Z:-19.70 [[ 9.56499152e-01 2.70727140e-01 1.08702292e-01 2.67072589e+02] [-2.69340320e-01 9.62651607e-01 -2.75258995e-02 -5.77509232e+01] [-1.12094444e-01 -2.94941060e-03 9.93693180e-01 -1.96976322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-57.76, Z:-19.70 [[ 9.56993043e-01 2.69045234e-01 1.08530998e-01 2.67098731e+02] [-2.67652978e-01 9.63123598e-01 -2.74739599e-02 -5.77557675e+01] [-1.11920503e-01 -2.75625622e-03 9.93713341e-01 -1.97013374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:-57.76, Z:-19.71 [[ 9.58234449e-01 2.65027290e-01 1.07458252e-01 2.67126605e+02] [-2.63638421e-01 9.64238231e-01 -2.71922104e-02 -5.77598139e+01] [-1.10822032e-01 -2.27361106e-03 9.93837667e-01 -1.97053131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:-57.76, Z:-19.71 [[ 9.58826152e-01 2.63019910e-01 1.07111802e-01 2.67154417e+02] [-2.61628442e-01 9.64788243e-01 -2.70962136e-02 -5.77644858e+01] [-1.10467051e-01 -2.04293561e-03 9.93877687e-01 -1.97089097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:-57.77, Z:-19.71 [[ 9.59322221e-01 2.61190037e-01 1.07147753e-01 2.67180576e+02] [-2.59787173e-01 9.65285645e-01 -2.70970300e-02 -5.77690201e+01] [-1.10505662e-01 -1.84082877e-03 9.93873790e-01 -1.97128659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:-57.77, Z:-19.72 [[ 9.59882909e-01 2.59283478e-01 1.06756167e-01 2.67207822e+02] [-2.57880229e-01 9.65799895e-01 -2.69879618e-02 -5.77733715e+01] [-1.10102628e-01 -1.62502147e-03 9.93918895e-01 -1.97163649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:-57.77, Z:-19.72 [[ 9.60896546e-01 2.55938852e-01 1.05703041e-01 2.67235396e+02] [-2.54543873e-01 9.66692182e-01 -2.67140755e-02 -5.77746775e+01] [-1.09019473e-01 -1.23659846e-03 9.94038845e-01 -1.97202003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:-57.78, Z:-19.72 [[ 9.61401404e-01 2.54166829e-01 1.05387685e-01 2.67261887e+02] [-2.52770575e-01 9.67159831e-01 -2.66251350e-02 -5.77786830e+01] [-1.08693962e-01 -1.04146356e-03 9.94074715e-01 -1.97238085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:-57.78, Z:-19.73 [[ 9.61903370e-01 2.52149573e-01 1.05652733e-01 2.67289720e+02] [-2.50735159e-01 9.67687921e-01 -2.66827111e-02 -5.77833818e+01] [-1.08966907e-01 -8.24664974e-04 9.94045036e-01 -1.97276086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.32, Y:-57.79, Z:-19.73 [[ 9.62449033e-01 2.49928478e-01 1.05960442e-01 2.67317344e+02] [-2.48493221e-01 9.68264126e-01 -2.67526094e-02 -5.77881546e+01] [-1.09283934e-01 -5.82428559e-04 9.94010404e-01 -1.97314716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:-57.79, Z:-19.73 [[ 9.63810748e-01 2.44429142e-01 1.06410695e-01 2.67345699e+02] [-2.42949056e-01 9.69667156e-01 -2.68581931e-02 -5.77906878e+01] [-1.09747881e-01 3.38373776e-05 9.93959457e-01 -1.97345857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:-57.80, Z:-19.74 [[ 9.64646188e-01 2.41014109e-01 1.06629877e-01 2.67372397e+02] [-2.39507979e-01 9.70521523e-01 -2.69054124e-02 -5.77962464e+01] [-1.09971175e-01 4.15497118e-04 9.93934690e-01 -1.97383649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:-57.80, Z:-19.74 [[ 9.65451996e-01 2.37543855e-01 1.07123112e-01 2.67399392e+02] [-2.36003302e-01 9.71376480e-01 -2.70217629e-02 -5.78025671e+01] [-1.10475725e-01 8.06806772e-04 9.93878495e-01 -1.97420983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.43, Y:-57.81, Z:-19.74 [[ 9.67107710e-01 2.30665564e-01 1.07219750e-01 2.67425642e+02] [-2.29080880e-01 9.73031798e-01 -2.70383280e-02 -5.78075537e+01] [-1.10565037e-01 1.58698075e-03 9.93867624e-01 -1.97448180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.45, Y:-57.81, Z:-19.75 [[ 9.67958485e-01 2.27528695e-01 1.06240601e-01 2.67453098e+02] [-2.25955096e-01 9.73769487e-01 -2.67821123e-02 -5.78130624e+01] [-1.09547555e-01 1.91836753e-03 9.93979705e-01 -1.97471017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.48, Y:-57.82, Z:-19.75 [[ 9.68415722e-01 2.25013853e-01 1.07423256e-01 2.67479078e+02] [-2.23390420e-01 9.74353037e-01 -2.70717612e-02 -5.78203407e+01] [-1.10759697e-01 2.21939292e-03 9.93844738e-01 -1.97518105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:267.51, Y:-57.83, Z:-19.75 [[ 9.68954704e-01 2.22745385e-01 1.07290611e-01 2.67506831e+02] [-2.21112884e-01 9.74873529e-01 -2.70313595e-02 -5.78277548e+01] [-1.10615887e-01 2.46882665e-03 9.93860166e-01 -1.97540651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72264 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:267.53, Y:-57.84, Z:-19.76 [[ 9.69784921e-01 2.18626035e-01 1.08258323e-01 2.67533275e+02] [-2.16938830e-01 9.75804228e-01 -2.72699875e-02 -5.78372100e+01] [-1.11600859e-01 2.96058874e-03 9.93748702e-01 -1.97572260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.56, Y:-57.85, Z:-19.76 [[ 9.70092236e-01 2.16945324e-01 1.08884248e-01 2.67561357e+02] [-2.15228747e-01 9.76178625e-01 -2.74204164e-02 -5.78470126e+01] [-1.12239206e-01 3.16531285e-03 9.93676175e-01 -1.97620498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.59, Y:-57.86, Z:-19.76 [[ 9.70472663e-01 2.15444949e-01 1.08472502e-01 2.67589274e+02] [-2.13732383e-01 9.76510333e-01 -2.73136870e-02 -5.78561605e+01] [-1.11809115e-01 3.32310029e-03 9.93724146e-01 -1.97646972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:-57.87, Z:-19.77 [[ 9.70726635e-01 2.14325847e-01 1.08416937e-01 2.67617118e+02] [-2.12608271e-01 9.76756130e-01 -2.72980726e-02 -5.78683822e+01] [-1.11747590e-01 3.44862862e-03 9.93730639e-01 -1.97699797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.65, Y:-57.88, Z:-19.77 [[ 9.70935063e-01 2.13924813e-01 1.07337214e-01 2.67645240e+02] [-2.12238940e-01 9.76844002e-01 -2.70264313e-02 -5.78773343e+01] [-1.10633338e-01 3.45977324e-03 9.93855268e-01 -1.97730393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:-57.89, Z:-19.78 [[ 9.70833495e-01 2.14191439e-01 1.07723497e-01 2.67672937e+02] [-2.12495132e-01 9.76785641e-01 -2.71224975e-02 -5.78878246e+01] [-1.11032172e-01 3.44071040e-03 9.93810856e-01 -1.97781646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.70, Y:-57.91, Z:-19.78 [[ 9.70848255e-01 2.14449259e-01 1.07075587e-01 2.67699203e+02] [-2.14137799e-01 9.76695323e-01 -1.45344028e-02 -5.79083642e+01] [-1.07697117e-01 -8.81823092e-03 9.94144642e-01 -1.97773028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:-57.91, Z:-19.78 [[ 9.70518679e-01 2.17290020e-01 1.04300245e-01 2.67729375e+02] [-2.15892718e-01 9.76106087e-01 -2.46422760e-02 -5.79137635e+01] [-1.07162624e-01 1.39812578e-03 9.94240523e-01 -1.97795968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:-57.92, Z:-19.79 [[ 9.69812181e-01 2.21245626e-01 1.02541244e-01 2.67758813e+02] [-2.18251377e-01 9.75084920e-01 -3.96955345e-02 -5.79156396e+01] [-1.08768884e-01 1.61174452e-02 9.93936395e-01 -1.97884008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:-57.94, Z:-19.79 [[ 9.68835981e-01 2.23984992e-01 1.05771288e-01 2.67783560e+02] [-2.22406697e-01 9.74589910e-01 -2.66414701e-02 -5.79367014e+01] [-1.09050919e-01 2.28697201e-03 9.94033534e-01 -1.97940257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:-57.95, Z:-19.80 [[ 9.68332272e-01 2.26417981e-01 1.05202225e-01 2.67811002e+02] [-2.24871269e-01 9.74028182e-01 -2.64955188e-02 -5.79472462e+01] [-1.08468994e-01 1.99950810e-03 9.94097822e-01 -1.97973809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.84, Y:-57.96, Z:-19.80 [[ 9.67805448e-01 2.28972696e-01 1.04518517e-01 2.67839963e+02] [-2.27461272e-01 9.73431363e-01 -2.63201731e-02 -5.79574492e+01] [-1.07768203e-01 1.69889210e-03 9.94174596e-01 -1.97999972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:-57.97, Z:-19.80 [[ 9.66248677e-01 2.34711437e-01 1.06179262e-01 2.67865751e+02] [-2.33185848e-01 9.72064494e-01 -2.67390977e-02 -5.79695495e+01] [-1.09489063e-01 1.07711645e-03 9.93987417e-01 -1.98047190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:-57.98, Z:-19.81 [[ 9.65434922e-01 2.37857724e-01 1.06579143e-01 2.67892612e+02] [-2.36340145e-01 9.71299741e-01 -2.68356094e-02 -5.79787068e+01] [-1.09903351e-01 7.19104494e-04 9.93942019e-01 -1.98081247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264000000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:267.92, Y:-57.99, Z:-19.81 [[ 9.64610529e-01 2.41214595e-01 1.06499041e-01 2.67920231e+02] [-2.39720097e-01 9.70471745e-01 -2.68116887e-02 -5.79871278e+01] [-1.09821681e-01 3.32876823e-04 9.93951250e-01 -1.98106028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.95, Y:-58.00, Z:-19.82 [[ 9.62720063e-01 2.48041870e-01 1.07913445e-01 2.67946318e+02] [-2.46550551e-01 9.68749205e-01 -2.71625360e-02 -5.79978769e+01] [-1.11278510e-01 -4.56200984e-04 9.93789155e-01 -1.98152208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:-58.01, Z:-19.82 [[ 9.61986614e-01 2.51058304e-01 1.07477824e-01 2.67973372e+02] [-2.49598623e-01 9.67971629e-01 -2.70454023e-02 -5.80055889e+01] [-1.10825457e-01 -8.09001947e-04 9.93839556e-01 -1.98188556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-58.01, Z:-19.82 [[ 9.61307165e-01 2.53763593e-01 1.07203417e-01 2.68000267e+02] [-2.52328725e-01 9.67265619e-01 -2.69710389e-02 -5.80120318e+01] [-1.10538447e-01 -1.12304853e-03 9.93871214e-01 -1.98230585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:-58.03, Z:-19.82 [[ 9.61147670e-01 2.53920436e-01 1.08256959e-01 2.68025480e+02] [-2.54520420e-01 9.67030298e-01 -8.47101959e-03 -5.80283341e+01] [-1.06838724e-01 -1.94117058e-02 9.94086854e-01 -1.98199748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.06, Y:-58.02, Z:-19.83 [[ 9.59829495e-01 2.61654367e-01 1.01313041e-01 2.68057110e+02] [-2.58422174e-01 9.65027432e-01 -4.40458277e-02 -5.80161881e+01] [-1.09294647e-01 1.60949482e-02 9.93879084e-01 -1.98296892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:-58.03, Z:-19.84 [[ 9.59757097e-01 2.60301206e-01 1.05402073e-01 2.68079652e+02] [-2.58955882e-01 9.65525663e-01 -2.64961489e-02 -5.80336079e+01] [-1.08665386e-01 -1.86461975e-03 9.94076635e-01 -1.98355370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-58.04, Z:-19.84 [[ 9.59745083e-01 2.60433012e-01 1.05185653e-01 2.68106369e+02] [-2.59095030e-01 9.65490080e-01 -2.64323846e-02 -5.80403744e+01] [-1.08439570e-01 -1.88472879e-03 9.94101256e-01 -1.98394561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:-58.06, Z:-19.84 [[ 9.60244394e-01 2.57833377e-01 1.07017074e-01 2.68131580e+02] [-2.58413821e-01 9.65995605e-01 -8.64802240e-03 -5.80563602e+01] [-1.05607772e-01 -1.93504760e-02 9.94219572e-01 -1.98359868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:268.16, Y:-58.04, Z:-19.84 [[ 9.59808328e-01 2.61709768e-01 1.01370460e-01 2.68164502e+02] [-2.58534914e-01 9.65021156e-01 -4.35185900e-02 -5.80428537e+01] [-1.09213878e-01 1.55617020e-02 9.93896454e-01 -1.98439061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:-58.06, Z:-19.85 [[ 9.60071981e-01 2.58752015e-01 1.06344657e-01 2.68189377e+02] [-2.57376543e-01 9.65942225e-01 -2.67008205e-02 -5.80581714e+01] [-1.09631686e-01 -1.73591057e-03 9.93970764e-01 -1.98490293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:-58.06, Z:-19.85 [[ 9.60134920e-01 2.58369045e-01 1.06706945e-01 2.68215157e+02] [-2.56982645e-01 9.66044786e-01 -2.67841749e-02 -5.80636189e+01] [-1.10003889e-01 -1.70541122e-03 9.93929694e-01 -1.98526362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:-58.07, Z:-19.86 [[ 9.59868191e-01 2.58134024e-01 1.09635219e-01 2.68239843e+02] [-2.57248228e-01 9.66085831e-01 -2.23945548e-02 -5.80726104e+01] [-1.11697829e-01 -6.70764509e-03 9.93719579e-01 -1.98566535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:-58.07, Z:-19.86 [[ 9.60329514e-01 2.57550735e-01 1.06933830e-01 2.68270290e+02] [-2.55630963e-01 9.66260308e-01 -3.15250520e-02 -5.80719777e+01] [-1.11445215e-01 2.93884000e-03 9.93766234e-01 -1.98590447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:-58.08, Z:-19.86 [[ 9.60645420e-01 2.55821945e-01 1.08238205e-01 2.68296999e+02] [-2.54381975e-01 9.66722818e-01 -2.71441403e-02 -5.80802394e+01] [-1.11580409e-01 -1.45795426e-03 9.93754339e-01 -1.98636067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:-58.09, Z:-19.87 [[ 9.61034502e-01 2.54334949e-01 1.08288595e-01 2.68323602e+02] [-2.52885141e-01 9.67115329e-01 -2.71485887e-02 -5.80870177e+01] [-1.11632395e-01 -1.29384610e-03 9.93748728e-01 -1.98674100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:-58.09, Z:-19.87 [[ 9.62012481e-01 2.50862679e-01 1.07702840e-01 2.68351958e+02] [-2.49407804e-01 9.68022271e-01 -2.69931598e-02 -5.80929551e+01] [-1.11030324e-01 -8.94172166e-04 9.93816617e-01 -1.98711689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.38, Y:-58.10, Z:-19.87 [[ 9.62509677e-01 2.49102811e-01 1.07344819e-01 2.68379328e+02] [-2.47647306e-01 9.68476798e-01 -2.68980267e-02 -5.80980882e+01] [-1.10661341e-01 -6.94044415e-04 9.93857930e-01 -1.98743432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:-58.10, Z:-19.88 [[ 9.62871576e-01 2.47650358e-01 1.07459889e-01 2.68406502e+02] [-2.46183463e-01 9.68849325e-01 -2.69200256e-02 -5.81038683e+01] [-1.10779195e-01 -5.34320120e-04 9.93844900e-01 -1.98781831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-58.11, Z:-19.88 [[ 9.63289555e-01 2.45968163e-01 1.07577396e-01 2.68433710e+02] [-2.44488503e-01 9.69277845e-01 -2.69412481e-02 -5.81104115e+01] [-1.10899076e-01 -3.49213584e-04 9.93831612e-01 -1.98818093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:-58.12, Z:-19.89 [[ 9.63879922e-01 2.43752057e-01 1.07333272e-01 2.68462170e+02] [-2.42266173e-01 9.69837576e-01 -2.68733421e-02 -5.81160390e+01] [-1.10646272e-01 -1.00546129e-04 9.93859845e-01 -1.98854439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:-58.12, Z:-19.89 [[ 9.64057590e-01 2.43130394e-01 1.07147446e-01 2.68489373e+02] [-2.41646428e-01 9.69993614e-01 -2.68215128e-02 -5.81219243e+01] [-1.10453464e-01 -3.43147058e-05 9.93881296e-01 -1.98892263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.52, Y:-58.13, Z:-19.89 [[ 9.64230495e-01 2.42473982e-01 1.07079039e-01 2.68517846e+02] [-2.40988661e-01 9.70157908e-01 -2.67973582e-02 -5.81282034e+01] [-1.10381238e-01 3.39958322e-05 9.93889320e-01 -1.98923847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:-58.13, Z:-19.90 [[ 9.64444798e-01 2.41277594e-01 1.07848755e-01 2.68544573e+02] [-2.39763931e-01 9.70456127e-01 -2.69844808e-02 -5.81347934e+01] [-1.11173235e-01 1.66800732e-04 9.93801028e-01 -1.98958025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:268.57, Y:-58.14, Z:-19.90 [[ 9.64741754e-01 2.40362914e-01 1.07233476e-01 2.68572157e+02] [-2.38861658e-01 9.70683058e-01 -2.68236531e-02 -5.81404442e+01] [-1.10537130e-01 2.63932164e-04 9.93871960e-01 -1.98988245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:-58.15, Z:-19.90 [[ 9.64936577e-01 2.39625858e-01 1.07130064e-01 2.68599333e+02] [-2.38123828e-01 9.70865249e-01 -2.67901215e-02 -5.81475849e+01] [-1.10428462e-01 3.40547259e-04 9.93884017e-01 -1.99031331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-58.15, Z:-19.91 [[ 9.65187760e-01 2.38281837e-01 1.07862666e-01 2.68627113e+02] [-2.36751371e-01 9.71195925e-01 -2.69678401e-02 -5.81536709e+01] [-1.11181728e-01 4.92395159e-04 9.93799970e-01 -1.99067021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:-58.16, Z:-19.91 [[ 9.65290629e-01 2.37915231e-01 1.07751312e-01 2.68653964e+02] [-2.36386244e-01 9.71285778e-01 -2.69347462e-02 -5.81600175e+01] [-1.11065503e-01 5.28930270e-04 9.93812947e-01 -1.99103270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-58.17, Z:-19.91 [[ 9.65299032e-01 2.37880360e-01 1.07753016e-01 2.68682199e+02] [-2.36351918e-01 9.71294321e-01 -2.69279257e-02 -5.81669923e+01] [-1.11065517e-01 5.25868573e-04 9.93812947e-01 -1.99140921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-58.17, Z:-19.92 [[ 9.65291314e-01 2.38002014e-01 1.07553340e-01 2.68710467e+02] [-2.36480429e-01 9.71264529e-01 -2.68741990e-02 -5.81735991e+01] [-1.10858858e-01 5.07170909e-04 9.93836031e-01 -1.99178550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:-58.19, Z:-19.91 [[ 9.65489638e-01 2.36448215e-01 1.09187912e-01 2.68736470e+02] [-2.37188173e-01 9.71442979e-01 -6.34900572e-03 -5.81906088e+01] [-1.07571042e-01 -1.97681822e-02 9.94000850e-01 -1.99133926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:-58.18, Z:-19.92 [[ 9.64620533e-01 2.42715253e-01 1.02939468e-01 2.68770054e+02] [-2.39090355e-01 9.69888571e-01 -4.63892406e-02 -5.81755496e+01] [-1.11099190e-01 2.01361800e-02 9.93605306e-01 -1.99219823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:-58.19, Z:-19.93 [[ 9.64402449e-01 2.41340906e-01 1.08085537e-01 2.68794924e+02] [-2.39825437e-01 9.70440391e-01 -2.70038378e-02 -5.81939691e+01] [-1.11407701e-01 1.20906112e-04 9.93774778e-01 -1.99280590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:-58.20, Z:-19.93 [[ 9.63777984e-01 2.43350376e-01 1.09144818e-01 2.68821384e+02] [-2.41818437e-01 9.69938442e-01 -2.72628516e-02 -5.82001359e+01] [-1.12498180e-01 -1.17893075e-04 9.93651924e-01 -1.99313429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-58.21, Z:-19.93 [[ 9.63596557e-01 2.44012076e-01 1.09269312e-01 2.68849293e+02] [-2.42481710e-01 9.69772172e-01 -2.72865257e-02 -5.82061375e+01] [-1.12624580e-01 -2.02607467e-04 9.93637591e-01 -1.99348399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:-58.23, Z:-19.95 [[ 9.62497047e-01 2.39328678e-01 1.27754527e-01 2.68868068e+02] [-2.42363964e-01 9.70147855e-01 8.53508762e-03 -5.82338996e+01] [-1.21898089e-01 -3.91780902e-02 9.91769093e-01 -1.99479434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:-58.20, Z:-19.94 [[ 9.63322366e-01 2.48899041e-01 1.00295992e-01 2.68911308e+02] [-2.43293087e-01 9.67778900e-01 -6.49035708e-02 -5.81973995e+01] [-1.13218782e-01 3.81217398e-02 9.92838477e-01 -1.99374306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:-58.24, Z:-19.94 [[ 9.63928000e-01 2.41910037e-01 1.11006061e-01 2.68930314e+02] [-2.42577118e-01 9.70101870e-01 -7.66177367e-03 -5.82371517e+01] [-1.09540648e-01 -1.95421323e-02 9.93790195e-01 -1.99386839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:268.96, Y:-58.23, Z:-19.95 [[ 9.63124379e-01 2.46309436e-01 1.08273230e-01 2.68961155e+02] [-2.43454213e-01 9.69125930e-01 -3.90509522e-02 -5.82263877e+01] [-1.14549013e-01 1.12513500e-02 9.93353880e-01 -1.99484613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:-58.24, Z:-19.95 [[ 9.63258843e-01 2.46045894e-01 1.07674599e-01 2.68987024e+02] [-2.43660377e-01 9.69229449e-01 -3.49842323e-02 -5.82361088e+01] [-1.12969119e-01 7.46283786e-03 9.93570473e-01 -1.99517072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:-58.26, Z:-19.95 [[ 9.63254660e-01 2.44040212e-01 1.12182150e-01 2.69010373e+02] [-2.44581955e-01 9.69585724e-01 -9.12086030e-03 -5.82569690e+01] [-1.10996068e-01 -1.86520184e-02 9.93645800e-01 -1.99481751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:-58.24, Z:-19.96 [[ 9.62521137e-01 2.49462189e-01 1.06403371e-01 2.69042578e+02] [-2.45939208e-01 9.68228475e-01 -4.52495927e-02 -5.82430315e+01] [-1.14310836e-01 1.73849287e-02 9.93292906e-01 -1.99574469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:269.07, Y:-58.26, Z:-19.96 [[ 9.62684808e-01 2.47581739e-01 1.09275993e-01 2.69067182e+02] [-2.46081003e-01 9.68866771e-01 -2.72271783e-02 -5.82587902e+01] [-1.12614830e-01 -6.79554917e-04 9.93638485e-01 -1.99633311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.09, Y:-58.27, Z:-19.97 [[ 9.62738569e-01 2.47732317e-01 1.08458042e-01 2.69094294e+02] [-2.46255721e-01 9.68828267e-01 -2.70168178e-02 -5.82652553e+01] [-1.11770155e-01 -6.98280751e-04 9.93733840e-01 -1.99680456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.12, Y:-58.27, Z:-19.97 [[ 9.62889353e-01 2.46516438e-01 1.09880570e-01 2.69121445e+02] [-2.45618251e-01 9.69120348e-01 -2.18500666e-02 -5.82734691e+01] [-1.11873897e-01 -5.94947702e-03 9.93704601e-01 -1.99742753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.15, Y:-58.28, Z:-19.98 [[ 9.62904233e-01 2.47306595e-01 1.07957797e-01 2.69148854e+02] [-2.45706328e-01 9.68937135e-01 -2.80932096e-02 -5.82756723e+01] [-1.11551955e-01 5.25156609e-04 9.93758464e-01 -1.99773274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:-58.28, Z:-19.98 [[ 9.63436183e-01 2.45477030e-01 1.07385985e-01 2.69176675e+02] [-2.44394477e-01 9.69395101e-01 -2.33340367e-02 -5.82846017e+01] [-1.09827417e-01 -3.76368625e-03 9.93943546e-01 -1.99783334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:-58.29, Z:-19.98 [[ 9.63686830e-01 2.44911317e-01 1.06424341e-01 2.69204164e+02] [-2.42628325e-01 9.69519949e-01 -3.40963895e-02 -5.82863541e+01] [-1.11531113e-01 7.03668184e-03 9.93736029e-01 -1.99846430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:-58.31, Z:-19.99 [[ 9.63703301e-01 2.41269923e-01 1.14301230e-01 2.69226819e+02] [-2.41599964e-01 9.70311686e-01 -1.11664818e-02 -5.83057567e+01] [-1.13601956e-01 -1.68539977e-02 9.93383379e-01 -1.99890405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-58.30, Z:-19.99 [[ 9.63691983e-01 2.43805150e-01 1.08888985e-01 2.69257966e+02] [-2.41449296e-01 9.69799123e-01 -3.45238768e-02 -5.82980092e+01] [-1.14017541e-01 6.97921469e-03 9.93454222e-01 -1.99922093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:269.28, Y:-58.31, Z:-19.99 [[ 9.64587590e-01 2.40666395e-01 1.07937329e-01 2.69282404e+02] [-2.40122095e-01 9.70571930e-01 -1.82073621e-02 -5.83109597e+01] [-1.09142842e-01 -8.35554221e-03 9.93990958e-01 -1.99863963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:269.31, Y:-58.30, Z:-20.00 [[ 9.64406664e-01 2.42915266e-01 1.04460329e-01 2.69314779e+02] [-2.39533225e-01 9.69891593e-01 -4.39787604e-02 -5.83045834e+01] [-1.11998307e-01 1.73916901e-02 9.93556193e-01 -1.99970981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-58.32, Z:-20.00 [[ 9.64719675e-01 2.39617559e-01 1.09084251e-01 2.69338615e+02] [-2.38078082e-01 9.70867338e-01 -2.71189572e-02 -5.83218611e+01] [-1.12404515e-01 1.91622255e-04 9.93662512e-01 -2.00037969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:-58.33, Z:-20.01 [[ 9.65037163e-01 2.38386097e-01 1.08974044e-01 2.69365549e+02] [-2.36842692e-01 9.71170408e-01 -2.70846482e-02 -5.83283084e+01] [-1.12288970e-01 3.27986102e-04 9.93675540e-01 -2.00075704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:-58.33, Z:-20.01 [[ 9.65663735e-01 2.36211861e-01 1.08155018e-01 2.69393686e+02] [-2.34678811e-01 9.71701411e-01 -2.68742114e-02 -5.83331442e+01] [-1.11442391e-01 5.69760207e-04 9.93770732e-01 -2.00109316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-58.34, Z:-20.02 [[ 9.65676059e-01 2.34417039e-01 1.11885660e-01 2.69418657e+02] [-2.33638289e-01 9.72113550e-01 -2.02088278e-02 -5.83440689e+01] [-1.13502860e-01 -6.62559288e-03 9.93515577e-01 -2.00165003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:-58.35, Z:-20.02 [[ 9.66205186e-01 2.34849829e-01 1.06268978e-01 2.69448662e+02] [-2.32523637e-01 9.71997963e-01 -3.39516922e-02 -5.83455453e+01] [-1.11266779e-01 8.09425181e-03 9.93757610e-01 -2.00183784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:-58.36, Z:-20.02 [[ 9.66365284e-01 2.33690763e-01 1.07362773e-01 2.69474024e+02] [-2.32165016e-01 9.72310600e-01 -2.66739936e-02 -5.83565149e+01] [-1.10623428e-01 8.50941425e-04 9.93862029e-01 -2.00226936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:269.50, Y:-58.37, Z:-20.03 [[ 9.66225442e-01 2.32269880e-01 1.11620330e-01 2.69500440e+02] [-2.31879539e-01 9.72602039e-01 -1.66479386e-02 -5.83685531e+01] [-1.12428975e-01 -9.79680892e-03 9.93611467e-01 -2.00280858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:-58.37, Z:-20.03 [[ 9.66001574e-01 2.34957222e-01 1.07870583e-01 2.69529505e+02] [-2.32847189e-01 9.71988801e-01 -3.19367643e-02 -5.83667084e+01] [-1.12352773e-01 5.73360248e-03 9.93651841e-01 -2.00297133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:-58.37, Z:-20.03 [[ 9.66064137e-01 2.35187419e-01 1.06803371e-01 2.69558646e+02] [-2.33024069e-01 9.71928361e-01 -3.24814397e-02 -5.83732111e+01] [-1.11444452e-01 6.49139783e-03 9.93749463e-01 -2.00328203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:-58.38, Z:-20.04 [[ 9.66017663e-01 2.34827697e-01 1.08008465e-01 2.69584483e+02] [-2.33292932e-01 9.72036757e-01 -2.68132650e-02 -5.83826612e+01] [-1.11284695e-01 7.04476219e-04 9.93788318e-01 -2.00364678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:-58.39, Z:-20.04 [[ 9.65812845e-01 2.34393931e-01 1.10747608e-01 2.69610990e+02] [-2.33457421e-01 9.72128548e-01 -2.15341489e-02 -5.83916729e+01] [-1.12708385e-01 -5.05689339e-03 9.93615241e-01 -2.00412178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-58.39, Z:-20.04 [[ 9.65617795e-01 2.36821064e-01 1.07228995e-01 2.69641183e+02] [-2.34645669e-01 9.71532407e-01 -3.26525997e-02 -5.83915542e+01] [-1.11909267e-01 6.36911220e-03 9.93698018e-01 -2.00424834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:-58.41, Z:-20.04 [[ 9.65756037e-01 2.32985970e-01 1.14161355e-01 2.69664194e+02] [-2.33985223e-01 9.72228520e-01 -4.75610282e-03 -5.84136232e+01] [-1.12099030e-01 -2.21188351e-02 9.93450837e-01 -2.00420960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:-58.40, Z:-20.04 [[ 9.65510097e-01 2.37457035e-01 1.06791432e-01 2.69695752e+02] [-2.35260110e-01 9.71375310e-01 -3.29042225e-02 -5.84046118e+01] [-1.11547899e-01 6.64559508e-03 9.93736838e-01 -2.00431725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:-58.41, Z:-20.05 [[ 9.65208294e-01 2.38592829e-01 1.06987900e-01 2.69724291e+02] [-2.35416057e-01 9.71004575e-01 -4.15859923e-02 -5.84064412e+01] [-1.13807860e-01 1.49524750e-02 9.93390253e-01 -2.00533738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:-58.42, Z:-20.06 [[ 9.65381120e-01 2.36000393e-01 1.11099536e-01 2.69749562e+02] [-2.34383084e-01 9.71752779e-01 -2.75881727e-02 -5.84218434e+01] [-1.14472102e-01 5.93249234e-04 9.93426286e-01 -2.00591696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:-58.44, Z:-20.06 [[ 9.65893675e-01 2.32949856e-01 1.13065352e-01 2.69775451e+02] [-2.33231245e-01 9.72359998e-01 -1.09187939e-02 -5.84388120e+01] [-1.12483757e-01 -1.58239788e-02 9.93527557e-01 -2.00563580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:-58.43, Z:-20.06 [[ 9.65994781e-01 2.34963260e-01 1.07918257e-01 2.69807838e+02] [-2.31505219e-01 9.71851440e-01 -4.37048274e-02 -5.84297549e+01] [-1.15149542e-01 1.72349954e-02 9.93198640e-01 -2.00637663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:-58.46, Z:-20.06 [[ 9.66741906e-01 2.29301326e-01 1.13273958e-01 2.69832373e+02] [-2.29513145e-01 9.73239437e-01 -1.13452242e-02 -5.84556289e+01] [-1.12844158e-01 -1.50299588e-02 9.93499017e-01 -2.00644243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27264 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:269.86, Y:-58.46, Z:-20.07 [[ 9.66875143e-01 2.30361768e-01 1.09935949e-01 2.69863952e+02] [-2.28882147e-01 9.73105058e-01 -2.60673841e-02 -5.84562224e+01] [-1.12984157e-01 4.15297199e-05 9.93596789e-01 -2.00672491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:-58.46, Z:-20.08 [[ 9.66642316e-01 2.31687849e-01 1.09194200e-01 2.69895444e+02] [-2.28067571e-01 9.72617457e-01 -4.47265651e-02 -5.84552667e+01] [-1.16566786e-01 1.83309346e-02 9.93013676e-01 -2.00767834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:-58.48, Z:-20.08 [[ 9.66940562e-01 2.28176256e-01 1.13848782e-01 2.69922523e+02] [-2.26419021e-01 9.73618535e-01 -2.83085686e-02 -5.84759668e+01] [-1.17304628e-01 1.59517340e-03 9.93094698e-01 -2.00827062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:-58.49, Z:-20.09 [[ 9.66999026e-01 2.27891567e-01 1.13922417e-01 2.69952292e+02] [-2.26129744e-01 9.73685147e-01 -2.83297363e-02 -5.84850317e+01] [-1.17380673e-01 1.63358049e-03 9.93085650e-01 -2.00859081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39264000000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:269.98, Y:-58.49, Z:-20.09 [[ 9.67126778e-01 2.27785410e-01 1.13046899e-01 2.69982253e+02] [-2.26049613e-01 9.73709982e-01 -2.81148224e-02 -5.84936497e+01] [-1.16479041e-01 1.63638980e-03 9.93191802e-01 -2.00900381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:-58.50, Z:-20.09 [[ 9.67072010e-01 2.27891233e-01 1.13301871e-01 2.70010576e+02] [-2.26147935e-01 9.73685231e-01 -2.81812548e-02 -5.85031476e+01] [-1.16742619e-01 1.63031857e-03 9.93160865e-01 -2.00939539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.04, Y:-58.51, Z:-20.10 [[ 9.67007938e-01 2.28928757e-01 1.11746464e-01 2.70041932e+02] [-2.27240260e-01 9.73442051e-01 -2.77927617e-02 -5.85145970e+01] [-1.15141270e-01 1.48252557e-03 9.93348021e-01 -2.00980626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.07, Y:-58.53, Z:-20.10 [[ 9.66556356e-01 2.28472700e-01 1.16486205e-01 2.70069096e+02] [-2.28072033e-01 9.73496926e-01 -1.69376133e-02 -5.85299323e+01] [-1.17268745e-01 -1.01960879e-02 9.93047875e-01 -2.01042049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:-58.53, Z:-20.10 [[ 9.66374744e-01 2.33077184e-01 1.08604241e-01 2.70103431e+02] [-2.30120608e-01 9.72373051e-01 -3.91810558e-02 -5.85271000e+01] [-1.14736047e-01 1.28715087e-02 9.93312621e-01 -2.01049128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:-58.54, Z:-20.11 [[ 9.65925082e-01 2.33367239e-01 1.11930639e-01 2.70130396e+02] [-2.31696971e-01 9.72388154e-01 -2.78889097e-02 -5.85427097e+01] [-1.15348385e-01 1.00460745e-03 9.93324590e-01 -2.01097395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:-58.55, Z:-20.11 [[ 9.64700740e-01 2.37885073e-01 1.12974220e-01 2.70158989e+02] [-2.36213295e-01 9.71293192e-01 -2.81569632e-02 -5.85497839e+01] [-1.16429212e-01 4.77030486e-04 9.93198878e-01 -2.01120821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:-58.56, Z:-20.12 [[ 9.64002947e-01 2.40422948e-01 1.13556697e-01 2.70186521e+02] [-2.38751680e-01 9.70668212e-01 -2.82994358e-02 -5.85568170e+01] [-1.17029710e-01 1.68887422e-04 9.93128400e-01 -2.01164782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.21, Y:-58.56, Z:-20.12 [[ 9.63368369e-01 2.42841258e-01 1.13795909e-01 2.70214777e+02] [-2.41180244e-01 9.70066032e-01 -2.83545981e-02 -5.85648951e+01] [-1.17275212e-01 -1.29402120e-04 9.93099445e-01 -2.01207557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:270.24, Y:-58.57, Z:-20.12 [[ 9.62154128e-01 2.47719373e-01 1.13554160e-01 2.70242189e+02] [-2.46099563e-01 9.68831558e-01 -2.82916584e-02 -5.85722372e+01] [-1.17023246e-01 -7.24693319e-04 9.93128911e-01 -2.01242559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:-58.58, Z:-20.13 [[ 9.61485135e-01 2.49997489e-01 1.14226048e-01 2.70270207e+02] [-2.48374897e-01 9.68245956e-01 -2.84548603e-02 -5.85781494e+01] [-1.17712553e-01 -1.01195772e-03 9.93047195e-01 -2.01283014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:-58.58, Z:-20.13 [[ 9.61000105e-01 2.51730240e-01 1.14501902e-01 2.70296862e+02] [-2.50112707e-01 9.67796656e-01 -2.85178323e-02 -5.85835478e+01] [-1.17993358e-01 -1.23274075e-03 9.93013619e-01 -2.01326439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.32, Y:-58.59, Z:-20.14 [[ 9.60368812e-01 2.52211336e-01 1.18664177e-01 2.70322760e+02] [-2.51610485e-01 9.67616359e-01 -2.02668778e-02 -5.85948816e+01] [-1.19932935e-01 -1.03934737e-02 9.92727589e-01 -2.01397716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.35, Y:-58.59, Z:-20.14 [[ 9.60631396e-01 2.54627622e-01 1.11139976e-01 2.70353849e+02] [-2.52058163e-01 9.67011157e-01 -3.68253312e-02 -5.85912121e+01] [-1.16850344e-01 7.36183114e-03 9.93122249e-01 -2.01404088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.38, Y:-58.61, Z:-20.15 [[ 9.60560682e-01 2.51760584e-01 1.18066866e-01 2.70377451e+02] [-2.51296824e-01 9.67722685e-01 -1.90449662e-02 -5.86073991e+01] [-1.19050756e-01 -1.13759828e-02 9.92822998e-01 -2.01474741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:-58.61, Z:-20.14 [[ 9.61238078e-01 2.50503376e-01 1.15192954e-01 2.70406328e+02] [-2.50079478e-01 9.68051340e-01 -1.83536634e-02 -5.86127696e+01] [-1.16110349e-01 -1.11651538e-02 9.93173563e-01 -2.01441919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:-58.61, Z:-20.15 [[ 9.61180578e-01 2.51718546e-01 1.13002963e-01 2.70435947e+02] [-2.50156341e-01 9.67799576e-01 -2.80318745e-02 -5.86141049e+01] [-1.16420362e-01 -1.32471431e-03 9.93199146e-01 -2.01472766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:270.47, Y:-58.61, Z:-20.16 [[ 9.61571778e-01 2.52615939e-01 1.07540240e-01 2.70465482e+02] [-2.48823082e-01 9.67380596e-01 -4.75589775e-02 -5.86087379e+01] [-1.16046497e-01 1.89728766e-02 9.93062556e-01 -2.01555256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:-58.64, Z:-20.17 [[ 9.61534113e-01 2.46804884e-01 1.20579845e-01 2.70486637e+02] [-2.46982290e-01 9.68923016e-01 -1.37090503e-02 -5.86354796e+01] [-1.20216047e-01 -1.65993666e-02 9.92608968e-01 -2.01659920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:-58.63, Z:-20.17 [[ 9.61701890e-01 2.49365189e-01 1.13782592e-01 2.70517606e+02] [-2.46847777e-01 9.68387926e-01 -3.59304908e-02 -5.86282111e+01] [-1.19145502e-01 6.46744104e-03 9.92855741e-01 -2.01664111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:-58.65, Z:-20.18 [[ 9.61069488e-01 2.44364282e-01 1.28963319e-01 2.70538777e+02] [-2.46037997e-01 9.69255423e-01 -3.03802660e-03 -5.86513269e+01] [-1.25740782e-01 -2.88101221e-02 9.91644711e-01 -2.01773979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:-58.62, Z:-20.17 [[ 9.61626608e-01 2.52553144e-01 1.07196905e-01 2.70578156e+02] [-2.47130590e-01 9.67035698e-01 -6.13875385e-02 -5.86220960e+01] [-1.19166850e-01 3.25402558e-02 9.92340866e-01 -2.01706847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.60, Y:-58.66, Z:-20.17 [[ 9.61756885e-01 2.44827314e-01 1.22814011e-01 2.70595870e+02] [-2.46659951e-01 9.69102050e-01 -2.91056613e-04 -5.86625676e+01] [-1.19090568e-01 -3.00133722e-02 9.92429662e-01 -2.01748268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:-58.64, Z:-20.17 [[ 9.61665551e-01 2.51202039e-01 1.09985924e-01 2.70631321e+02] [-2.47939810e-01 9.67837488e-01 -4.26197925e-02 -5.86444967e+01] [-1.17154680e-01 1.37160971e-02 9.93018957e-01 -2.01747359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.66, Y:-58.65, Z:-20.19 [[ 9.61103290e-01 2.52222893e-01 1.12534789e-01 2.70659546e+02] [-2.49160402e-01 9.67605442e-01 -4.07283994e-02 -5.86500338e+01] [-1.19161909e-01 1.11049853e-02 9.92812731e-01 -2.01862239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:-58.66, Z:-20.19 [[ 9.60837326e-01 2.51465926e-01 1.16432474e-01 2.70686069e+02] [-2.49794745e-01 9.67865346e-01 -2.89699342e-02 -5.86616458e+01] [-1.19975908e-01 -1.24882603e-03 9.92776018e-01 -2.01927318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-58.67, Z:-20.20 [[ 9.60658003e-01 2.52091165e-01 1.16560053e-01 2.70713593e+02] [-2.50421612e-01 9.67702570e-01 -2.89957238e-02 -5.86652247e+01] [-1.20105028e-01 -1.33418211e-03 9.92760294e-01 -2.01965899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.74, Y:-58.67, Z:-20.20 [[ 9.60333265e-01 2.52211376e-01 1.18951427e-01 2.70741516e+02] [-2.51290443e-01 9.67640137e-01 -2.29276683e-02 -5.86710446e+01] [-1.20884794e-01 -7.87315420e-03 9.92635321e-01 -2.02015070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:-58.67, Z:-20.21 [[ 9.60137956e-01 2.53581015e-01 1.17608563e-01 2.70769371e+02] [-2.51888081e-01 9.67312988e-01 -2.92912512e-02 -5.86725028e+01] [-1.21191996e-01 -1.50055307e-03 9.92627951e-01 -2.02057100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.80, Y:-58.67, Z:-20.21 [[ 9.60223846e-01 2.54918235e-01 1.13959904e-01 2.70798081e+02] [-2.52525623e-01 9.66949546e-01 -3.52048934e-02 -5.86733853e+01] [-1.19167847e-01 5.02678231e-03 9.92861398e-01 -2.02080333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.83, Y:-58.68, Z:-20.21 [[ 9.60334934e-01 2.54057346e-01 1.14942073e-01 2.70825209e+02] [-2.52451349e-01 9.67187858e-01 -2.85650913e-02 -5.86810544e+01] [-1.18427749e-01 -1.58522639e-03 9.92961407e-01 -2.02116179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:-58.68, Z:-20.22 [[ 9.60477315e-01 2.53019962e-01 1.16035454e-01 2.70853079e+02] [-2.51376768e-01 9.67459925e-01 -2.88273071e-02 -5.86832632e+01] [-1.19553536e-01 -1.48064284e-03 9.92826651e-01 -2.02156593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:-58.69, Z:-20.22 [[ 9.60802446e-01 2.51711872e-01 1.16188609e-01 2.70880227e+02] [-2.50055690e-01 9.67801309e-01 -2.88579096e-02 -5.86881340e+01] [-1.19711366e-01 -1.32687246e-03 9.92807851e-01 -2.02189891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-58.69, Z:-20.22 [[ 9.61084027e-01 2.50531474e-01 1.16410794e-01 2.70907841e+02] [-2.48861412e-01 9.68107722e-01 -2.89038999e-02 -5.86931080e+01] [-1.19939525e-01 -1.19107803e-03 9.92780485e-01 -2.02218863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:270.94, Y:-58.70, Z:-20.22 [[ 9.61965854e-01 2.47314821e-01 1.16004634e-01 2.70935704e+02] [-2.45633972e-01 9.68934853e-01 -2.87958916e-02 -5.86954514e+01] [-1.19522584e-01 -7.94014567e-04 9.92831165e-01 -2.02240834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:-58.70, Z:-20.23 [[ 9.62385880e-01 2.45442846e-01 1.16495611e-01 2.70963664e+02] [-2.43735157e-01 9.69410894e-01 -2.89083443e-02 -5.87014091e+01] [-1.20027460e-01 -5.73093656e-04 9.92770407e-01 -2.02285577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:-58.71, Z:-20.23 [[ 9.62811330e-01 2.43872543e-01 1.16277795e-01 2.70990789e+02] [-2.42160545e-01 9.69807216e-01 -2.88484674e-02 -5.87070620e+01] [-1.19802394e-01 -3.82263030e-04 9.92797683e-01 -2.02323875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:271.02, Y:-58.71, Z:-20.24 [[ 9.63261273e-01 2.42518471e-01 1.15379852e-01 2.71017918e+02] [-2.40824208e-01 9.70146763e-01 -2.86174450e-02 -5.87125203e+01] [-1.18875649e-01 -2.20185055e-04 9.92909126e-01 -2.02354723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:271.05, Y:-58.72, Z:-20.24 [[ 9.64133901e-01 2.39262189e-01 1.14888758e-01 2.71045988e+02] [-2.37560152e-01 9.70954981e-01 -2.84885812e-02 -5.87162085e+01] [-1.18368052e-01 1.73816039e-04 9.92969775e-01 -2.02380940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:-58.72, Z:-20.24 [[ 9.64409600e-01 2.37885826e-01 1.15431617e-01 2.71073879e+02] [-2.36158878e-01 9.71293067e-01 -2.86140366e-02 -5.87225121e+01] [-1.18924803e-01 3.35450457e-04 9.92903207e-01 -2.02424355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59264 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:271.10, Y:-58.73, Z:-20.25 [[ 9.64777880e-01 2.36775538e-01 1.14634142e-01 2.71101241e+02] [-2.35065310e-01 9.71564270e-01 -2.84107414e-02 -5.87289621e+01] [-1.18101405e-01 4.63544766e-04 9.93001432e-01 -2.02453543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.13, Y:-58.74, Z:-20.25 [[ 9.65012501e-01 2.35765671e-01 1.14740668e-01 2.71129142e+02] [-2.34046034e-01 9.71809761e-01 -2.84296063e-02 -5.87356100e+01] [-1.18208827e-01 5.80327149e-04 9.92988588e-01 -2.02490285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:271.16, Y:-58.74, Z:-20.25 [[ 9.65340978e-01 2.34368996e-01 1.14838887e-01 2.71156123e+02] [-2.32637229e-01 9.72147425e-01 -2.84482566e-02 -5.87416523e+01] [-1.18307718e-01 7.46467361e-04 9.92976700e-01 -2.02520500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:-58.76, Z:-20.25 [[ 9.65672754e-01 2.31577845e-01 1.17676817e-01 2.71181495e+02] [-2.31497242e-01 9.72726847e-01 -1.45432895e-02 -5.87554439e+01] [-1.17835302e-01 -1.31978000e-02 9.92945446e-01 -2.02530307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.21, Y:-58.75, Z:-20.26 [[ 9.65651498e-01 2.34791655e-01 1.11310659e-01 2.71213194e+02] [-2.31487192e-01 9.71934364e-01 -4.19198307e-02 -5.87464545e+01] [-1.18029081e-01 1.47129554e-02 9.92901136e-01 -2.02574121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:-58.76, Z:-20.26 [[ 9.65914890e-01 2.32036475e-01 1.14749722e-01 2.71238178e+02] [-2.30293654e-01 9.72706562e-01 -2.84038334e-02 -5.87587472e+01] [-1.18208533e-01 1.00955283e-03 9.92988280e-01 -2.02624347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.26, Y:-58.77, Z:-20.27 [[ 9.66050381e-01 2.31716577e-01 1.14254495e-01 2.71264456e+02] [-2.29987449e-01 9.72782788e-01 -2.82740305e-02 -5.87655567e+01] [-1.17696368e-01 1.03703805e-03 9.93049087e-01 -2.02658193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:-58.77, Z:-20.27 [[ 9.66129886e-01 2.31306090e-01 1.14413883e-01 2.71291682e+02] [-2.29570197e-01 9.72880427e-01 -2.83054771e-02 -5.87733681e+01] [-1.17858256e-01 1.08074975e-03 9.93029840e-01 -2.02701563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.32, Y:-58.78, Z:-20.27 [[ 9.66172134e-01 2.31268009e-01 1.14133760e-01 2.71318910e+02] [-2.29541041e-01 9.72889484e-01 -2.82305314e-02 -5.87811081e+01] [-1.17568354e-01 1.07717073e-03 9.93064208e-01 -2.02735553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:-58.79, Z:-20.28 [[ 9.65973746e-01 2.32075860e-01 1.14173192e-01 2.71346198e+02] [-2.30353997e-01 9.72697202e-01 -2.82345246e-02 -5.87870254e+01] [-1.17608496e-01 9.73558236e-04 9.93059562e-01 -2.02765154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:-58.79, Z:-20.28 [[ 9.65789361e-01 2.32786775e-01 1.14285731e-01 2.71373397e+02] [-2.31067341e-01 9.72527399e-01 -2.82549510e-02 -5.87933216e+01] [-1.17723383e-01 8.80631223e-04 9.93046036e-01 -2.02798158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:-58.80, Z:-20.28 [[ 9.65636302e-01 2.33301293e-01 1.14529643e-01 2.71401353e+02] [-2.31579050e-01 9.72404159e-01 -2.83071675e-02 -5.87997823e+01] [-1.17973200e-01 8.11762540e-04 9.93016448e-01 -2.02834202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:-58.81, Z:-20.29 [[ 9.65627874e-01 2.33943498e-01 1.13283930e-01 2.71429759e+02] [-2.32263715e-01 9.72249928e-01 -2.79936585e-02 -5.88058138e+01] [-1.16689227e-01 7.19710618e-04 9.93168217e-01 -2.02865269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:-58.81, Z:-20.29 [[ 9.65655892e-01 2.33973063e-01 1.12983644e-01 2.71456771e+02] [-2.32303045e-01 9.72242821e-01 -2.79140130e-02 -5.88131746e+01] [-1.16378663e-01 7.08886696e-04 9.93204664e-01 -2.02907074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.48, Y:-58.82, Z:-20.29 [[ 9.65718862e-01 2.33900088e-01 1.12595867e-01 2.71484256e+02] [-2.32242000e-01 9.72260381e-01 -2.78101589e-02 -5.88218247e+01] [-1.15977299e-01 7.07305734e-04 9.93251613e-01 -2.02943326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.51, Y:-58.83, Z:-20.30 [[ 9.65720897e-01 2.33892041e-01 1.12595125e-01 2.71511720e+02] [-2.32234588e-01 9.72262320e-01 -2.78042639e-02 -5.88306692e+01] [-1.15975193e-01 7.02676306e-04 9.93251862e-01 -2.02980046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.54, Y:-58.84, Z:-20.30 [[ 9.65625269e-01 2.34172139e-01 1.12832842e-01 2.71538122e+02] [-2.32510222e-01 9.72194923e-01 -2.78572998e-02 -5.88380492e+01] [-1.16218919e-01 6.64923444e-04 9.93223399e-01 -2.03010766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:-58.85, Z:-20.31 [[ 9.65170131e-01 2.33349644e-01 1.18298612e-01 2.71562442e+02] [-2.32713377e-01 9.72352668e-01 -1.93590438e-02 -5.88494612e+01] [-1.19545397e-01 -8.84489868e-03 9.92789336e-01 -2.03071585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-58.85, Z:-20.31 [[ 9.65373732e-01 2.36000591e-01 1.11163294e-01 2.71594105e+02] [-2.33284605e-01 9.71703397e-01 -3.70243300e-02 -5.88455766e+01] [-1.16755514e-01 9.80963053e-03 9.93112240e-01 -2.03069880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:-58.86, Z:-20.31 [[ 9.65028627e-01 2.36885310e-01 1.12272431e-01 2.71619777e+02] [-2.35260314e-01 9.71537569e-01 -2.77008364e-02 -5.88584369e+01] [-1.15638806e-01 3.18852852e-04 9.93291279e-01 -2.03114908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:-58.87, Z:-20.32 [[ 9.64672002e-01 2.38189946e-01 1.12576541e-01 2.71646237e+02] [-2.36565962e-01 9.71218578e-01 -2.77672496e-02 -5.88650486e+01] [-1.15950308e-01 1.54510616e-04 9.93255004e-01 -2.03156606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:-58.87, Z:-20.32 [[ 9.64438341e-01 2.39409456e-01 1.11990171e-01 2.71673679e+02] [-2.37811581e-01 9.70918695e-01 -2.76141186e-02 -5.88714814e+01] [-1.15344432e-01 -4.44910493e-07 9.93325557e-01 -2.03192978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.70, Y:-58.88, Z:-20.32 [[ 9.64190650e-01 2.40462700e-01 1.11866355e-01 2.71699835e+02] [-2.38876340e-01 9.70658370e-01 -2.75757504e-02 -5.88779483e+01] [-1.15214954e-01 -1.33944837e-04 9.93340574e-01 -2.03231677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:271.73, Y:-58.88, Z:-20.33 [[ 9.63770538e-01 2.42055649e-01 1.12050936e-01 2.71726840e+02] [-2.40476267e-01 9.70262309e-01 -2.76082593e-02 -5.88843962e+01] [-1.15401535e-01 -3.37563901e-04 9.93318867e-01 -2.03258056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:-58.89, Z:-20.33 [[ 9.63581042e-01 2.42183713e-01 1.13395878e-01 2.71753009e+02] [-2.40567866e-01 9.70230342e-01 -2.79318075e-02 -5.88905766e+01] [-1.16784750e-01 -3.64844120e-04 9.93157182e-01 -2.03290322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-58.90, Z:-20.33 [[ 9.63568709e-01 2.42129253e-01 1.13616755e-01 2.71780029e+02] [-2.40508444e-01 9.70243931e-01 -2.79714676e-02 -5.88968002e+01] [-1.17008678e-01 -3.73358017e-04 9.93130822e-01 -2.03322647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:-58.90, Z:-20.34 [[ 9.63703666e-01 2.41610954e-01 1.13575484e-01 2.71806881e+02] [-2.39988737e-01 9.70373148e-01 -2.79528238e-02 -5.89027980e+01] [-1.16964308e-01 -3.18598194e-04 9.93136068e-01 -2.03357644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-58.91, Z:-20.34 [[ 9.63883630e-01 2.40320189e-01 1.14780463e-01 2.71833606e+02] [-2.38881678e-01 9.70691538e-01 -2.63340554e-02 -5.89094159e+01] [-1.17745029e-01 -2.03598467e-03 9.93041773e-01 -2.03394352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:-58.91, Z:-20.34 [[ 9.64121265e-01 2.39926158e-01 1.13602928e-01 2.71862181e+02] [-2.38079280e-01 9.70789749e-01 -2.97576660e-02 -5.89145584e+01] [-1.17424200e-01 1.64349528e-03 9.93080488e-01 -2.03429364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:-58.92, Z:-20.35 [[ 9.64280922e-01 2.38688836e-01 1.14847474e-01 2.71888246e+02] [-2.37013665e-01 9.71096102e-01 -2.82291220e-02 -5.89228607e+01] [-1.18265911e-01 3.83130809e-07 9.92981961e-01 -2.03470869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.92, Y:-58.93, Z:-20.35 [[ 9.64764054e-01 2.36715276e-01 1.14874710e-01 2.71915644e+02] [-2.35026251e-01 9.71579036e-01 -2.82283319e-02 -5.89301645e+01] [-1.18291938e-01 2.35107442e-04 9.92978833e-01 -2.03502528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:-58.94, Z:-20.35 [[ 9.65068586e-01 2.35841275e-01 1.14111861e-01 2.71942349e+02] [-2.34169259e-01 9.71791532e-01 -2.80352779e-02 -5.89358871e+01] [-1.17504816e-01 3.34476025e-04 9.93072256e-01 -2.03536720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:-58.95, Z:-20.36 [[ 9.65067246e-01 2.33763121e-01 1.18321655e-01 2.71967760e+02] [-2.33137936e-01 9.72252247e-01 -1.92943088e-02 -5.89474558e+01] [-1.19548793e-01 -8.96496085e-03 9.92787850e-01 -2.03599524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.00, Y:-58.94, Z:-20.36 [[ 9.65855928e-01 2.34063728e-01 1.11069782e-01 2.71998025e+02] [-2.31349840e-01 9.72170335e-01 -3.69065200e-02 -5.89447253e+01] [-1.16617225e-01 9.95040479e-03 9.93127088e-01 -2.03605565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-58.96, Z:-20.37 [[ 9.66189629e-01 2.31357206e-01 1.13804409e-01 2.72023155e+02] [-2.29665894e-01 9.72868497e-01 -2.79368082e-02 -5.89565065e+01] [-1.17180106e-01 8.55263060e-04 9.93110312e-01 -2.03661716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:-58.96, Z:-20.37 [[ 9.66600467e-01 2.29906966e-01 1.13253360e-01 2.72050069e+02] [-2.28223135e-01 9.73212079e-01 -2.77929648e-02 -5.89627006e+01] [-1.16609334e-01 1.01765596e-03 9.93177339e-01 -2.03696857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:-58.97, Z:-20.37 [[ 9.67308530e-01 2.27083818e-01 1.12903262e-01 2.72077542e+02] [-2.25392081e-01 9.73874286e-01 -2.76998918e-02 -5.89716673e+01] [-1.16243780e-01 1.34684052e-03 9.93219799e-01 -2.03735479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264000000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:272.10, Y:-58.98, Z:-20.38 [[ 9.67561560e-01 2.26202055e-01 1.12504475e-01 2.72104658e+02] [-2.24516989e-01 9.74079335e-01 -2.75965815e-02 -5.89807604e+01] [-1.15830688e-01 1.44222539e-03 9.93267925e-01 -2.03772612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:-58.99, Z:-20.38 [[ 9.67614694e-01 2.25657702e-01 1.13138875e-01 2.72130333e+02] [-2.23950420e-01 9.74205481e-01 -2.77468947e-02 -5.89895131e+01] [-1.16481812e-01 1.51080448e-03 9.93191676e-01 -2.03821399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.16, Y:-59.00, Z:-20.38 [[ 9.67685815e-01 2.25821531e-01 1.12199819e-01 2.72156929e+02] [-2.24144455e-01 9.74167578e-01 -2.75098856e-02 -5.89972444e+01] [-1.15513750e-01 1.47195881e-03 9.93304791e-01 -2.03843393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.19, Y:-59.00, Z:-20.39 [[ 9.67693376e-01 2.25788303e-01 1.12201481e-01 2.72185166e+02] [-2.24111791e-01 9.74175284e-01 -2.75031039e-02 -5.90040829e+01] [-1.15513789e-01 1.46889664e-03 9.93304791e-01 -2.03883272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.21, Y:-59.01, Z:-20.39 [[ 9.67524187e-01 2.26025965e-01 1.13177786e-01 2.72212990e+02] [-2.24322107e-01 9.74120199e-01 -2.77386097e-02 -5.90113688e+01] [-1.16518413e-01 1.44949643e-03 9.93187474e-01 -2.03932312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.24, Y:-59.02, Z:-20.40 [[ 9.67320086e-01 2.26702331e-01 1.13568937e-01 2.72240262e+02] [-2.24991949e-01 9.73963133e-01 -2.78287432e-02 -5.90188227e+01] [-1.16920799e-01 1.36720580e-03 9.93140301e-01 -2.03960747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.27, Y:-59.03, Z:-20.40 [[ 9.66971193e-01 2.27412518e-01 1.15109766e-01 2.72266337e+02] [-2.25660920e-01 9.73797655e-01 -2.82006331e-02 -5.90271127e+01] [-1.18506797e-01 1.29342423e-03 9.92952399e-01 -2.04018865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.29, Y:-59.04, Z:-20.41 [[ 9.66518214e-01 2.29581525e-01 1.14607443e-01 2.72293529e+02] [-2.27861297e-01 9.73288904e-01 -2.80702326e-02 -5.90370679e+01] [-1.17990560e-01 1.01579051e-03 9.93014197e-01 -2.04063653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:272.32, Y:-59.04, Z:-20.41 [[ 9.66422624e-01 2.30626452e-01 1.13308214e-01 2.72321564e+02] [-2.28952957e-01 9.73041972e-01 -2.77464384e-02 -5.90449711e+01] [-1.16652710e-01 8.72535152e-04 9.93172384e-01 -2.04078142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.35, Y:-59.05, Z:-20.41 [[ 9.66048642e-01 2.31561251e-01 1.14583634e-01 2.72348716e+02] [-2.29856977e-01 9.72820027e-01 -2.80528893e-02 -5.90529398e+01] [-1.17965216e-01 7.62607848e-04 9.93017435e-01 -2.04147081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.38, Y:-59.06, Z:-20.42 [[ 9.65731317e-01 2.33216591e-01 1.13899274e-01 2.72376714e+02] [-2.31544891e-01 9.72424659e-01 -2.78791133e-02 -5.90615359e+01] [-1.17260334e-01 5.50937774e-04 9.93101058e-01 -2.04190474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:-59.07, Z:-20.42 [[ 9.65669891e-01 2.33620759e-01 1.13591382e-01 2.72403887e+02] [-2.31961225e-01 9.72327668e-01 -2.78010238e-02 -5.90691224e+01] [-1.16942940e-01 4.97815452e-04 9.93138510e-01 -2.04230544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.43, Y:-59.08, Z:-20.42 [[ 9.65777214e-01 2.32826235e-01 1.14307990e-01 2.72430752e+02] [-2.32111912e-01 9.72489433e-01 -1.97069149e-02 -5.90821184e+01] [-1.15751600e-01 -7.49975678e-03 9.93249878e-01 -2.04237035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:-59.08, Z:-20.43 [[ 9.65351565e-01 2.35010540e-01 1.13430167e-01 2.72461497e+02] [-2.32413728e-01 9.71958352e-01 -3.57885541e-02 -5.90838540e+01] [-1.18660085e-01 8.18580882e-03 9.92901192e-01 -2.04309817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:-59.10, Z:-20.43 [[ 9.66055756e-01 2.33161417e-01 1.11229630e-01 2.72487602e+02] [-2.31566239e-01 9.72437890e-01 -2.72328436e-02 -5.90985188e+01] [-1.14513555e-01 5.51418228e-04 9.93421533e-01 -2.04277430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.51, Y:-59.11, Z:-20.44 [[ 9.65433742e-01 2.33218003e-01 1.16391807e-01 2.72514735e+02] [-2.31471932e-01 9.72424313e-01 -2.84903456e-02 -5.91086139e+01] [-1.19826684e-01 5.64104524e-04 9.92794665e-01 -2.04396426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.54, Y:-59.12, Z:-20.44 [[ 9.65423960e-01 2.33184502e-01 1.16539972e-01 2.72544261e+02] [-2.31434186e-01 9.72432347e-01 -2.85227835e-02 -5.91184717e+01] [-1.19978309e-01 5.65245181e-04 9.92776352e-01 -2.04440989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.57, Y:-59.13, Z:-20.45 [[ 9.65388292e-01 2.33385044e-01 1.16433956e-01 2.72572626e+02] [-2.31638980e-01 9.72384248e-01 -2.85001137e-02 -5.91276749e+01] [-1.19870045e-01 5.43033390e-04 9.92789443e-01 -2.04481237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.60, Y:-59.14, Z:-20.45 [[ 9.64986537e-01 2.35202338e-01 1.16107035e-01 2.72601682e+02] [-2.33479020e-01 9.71946377e-01 -2.84216104e-02 -5.91372362e+01] [-1.19534641e-01 3.17914720e-04 9.92829980e-01 -2.04524606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.63, Y:-59.15, Z:-20.45 [[ 9.65065492e-01 2.34767666e-01 1.16330307e-01 2.72630271e+02] [-2.34453826e-01 9.71986028e-01 -1.65700056e-02 -5.91519474e+01] [-1.16961534e-01 -1.12829449e-02 9.93072351e-01 -2.04519238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.66, Y:-59.15, Z:-20.46 [[ 9.64467008e-01 2.39125252e-01 1.12349918e-01 2.72662751e+02] [-2.36175774e-01 9.70924800e-01 -3.90645169e-02 -5.91495272e+01] [-1.18424634e-01 1.11421088e-02 9.92900528e-01 -2.04577726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.69, Y:-59.17, Z:-20.47 [[ 9.63633093e-01 2.40208866e-01 1.17093821e-01 2.72689081e+02] [-2.38489880e-01 9.70721186e-01 -2.86872015e-02 -5.91666551e+01] [-1.20556373e-01 -2.81754647e-04 9.92706443e-01 -2.04656235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:-59.17, Z:-20.47 [[ 9.63288583e-01 2.41576497e-01 1.17114906e-01 2.72717888e+02] [-2.39865955e-01 9.70381677e-01 -2.87006135e-02 -5.91738274e+01] [-1.20579553e-01 -4.44905550e-04 9.92703568e-01 -2.04692871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:-59.19, Z:-20.47 [[ 9.63303098e-01 2.41093892e-01 1.17986768e-01 2.72745654e+02] [-2.41157396e-01 9.70385693e-01 -1.39540799e-02 -5.91880967e+01] [-1.17856915e-01 -1.50113733e-02 9.92917120e-01 -2.04677788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:-59.18, Z:-20.48 [[ 9.62368910e-01 2.46621513e-01 1.14122347e-01 2.72777605e+02] [-2.43272407e-01 9.69021271e-01 -4.26182181e-02 -5.91798686e+01] [-1.21097551e-01 1.32516301e-02 9.92552154e-01 -2.04765495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:272.80, Y:-59.20, Z:-20.47 [[ 9.62162568e-01 2.45505459e-01 1.18195868e-01 2.72801925e+02] [-2.45574218e-01 9.69273625e-01 -1.42106984e-02 -5.92006879e+01] [-1.18052941e-01 -1.53528558e-02 9.92888611e-01 -2.04729255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:-59.20, Z:-20.48 [[ 9.61854642e-01 2.47550174e-01 1.16424048e-01 2.72829702e+02] [-2.46468629e-01 9.68857849e-01 -2.38261276e-02 -5.92014276e+01] [-1.18696515e-01 -5.77760402e-03 9.92913771e-01 -2.04765106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:-59.20, Z:-20.49 [[ 9.61327575e-01 2.50474095e-01 1.14507733e-01 2.72860909e+02] [-2.46643894e-01 9.67979974e-01 -4.67071616e-02 -5.91956866e+01] [-1.22540126e-01 1.66582493e-02 9.92323748e-01 -2.04879167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:-59.21, Z:-20.49 [[ 9.61488468e-01 2.47810180e-01 1.18869848e-01 2.72886927e+02] [-2.46096547e-01 9.68807793e-01 -2.91195936e-02 -5.92127697e+01] [-1.22378167e-01 -1.25530562e-03 9.92482750e-01 -2.04943788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:-59.22, Z:-20.50 [[ 9.62327052e-01 2.44676656e-01 1.18574786e-01 2.72914936e+02] [-2.42948188e-01 9.69604352e-01 -2.90444288e-02 -5.92187595e+01] [-1.22077122e-01 -8.57289828e-04 9.92520247e-01 -2.04986406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:-59.22, Z:-20.50 [[ 9.62930295e-01 2.42393782e-01 1.18365962e-01 2.72941489e+02] [-2.40654748e-01 9.70177782e-01 -2.89890342e-02 -5.92247973e+01] [-1.21862788e-01 -5.70911550e-04 9.92546792e-01 -2.05027102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:-59.23, Z:-20.51 [[ 9.63638754e-01 2.39656862e-01 1.18173352e-01 2.72970035e+02] [-2.37903929e-01 9.70857628e-01 -2.89341651e-02 -5.92314716e+01] [-1.21663771e-01 -2.31821862e-04 9.92571344e-01 -2.05070122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:-59.24, Z:-20.51 [[ 9.64402224e-01 2.36800297e-01 1.17702890e-01 2.72998854e+02] [-2.35040537e-01 9.71558338e-01 -2.88156601e-02 -5.92389932e+01] [-1.21178781e-01 1.24936252e-04 9.92630690e-01 -2.05117406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:-59.25, Z:-20.52 [[ 9.65982873e-01 2.30762405e-01 1.16729609e-01 2.73029371e+02] [-2.28988133e-01 9.73009739e-01 -2.85741793e-02 -5.92497868e+01] [-1.20172893e-01 8.72472593e-04 9.92752595e-01 -2.05169715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:273.06, Y:-59.26, Z:-20.52 [[ 9.66814505e-01 2.28227058e-01 1.14813429e-01 2.73059947e+02] [-2.26490109e-01 9.73607206e-01 -2.81289857e-02 -5.92589124e+01] [-1.18202977e-01 1.19140537e-03 9.92988739e-01 -2.05169173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:-59.27, Z:-20.53 [[ 9.67166071e-01 2.25916163e-01 1.16411674e-01 2.73090854e+02] [-2.24110889e-01 9.74145567e-01 -2.85433685e-02 -5.92679116e+01] [-1.19850324e-01 1.51705397e-03 9.92790813e-01 -2.05256293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78264 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:273.12, Y:-59.29, Z:-20.52 [[ 9.68037689e-01 2.21836164e-01 1.17011747e-01 2.73119531e+02] [-2.22274035e-01 9.74938337e-01 -9.46005756e-03 -5.92870086e+01] [-1.16177821e-01 -1.68509808e-02 9.93085474e-01 -2.05204093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81264 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:273.15, Y:-59.28, Z:-20.53 [[ 9.68374389e-01 2.23326385e-01 1.11249126e-01 2.73154864e+02] [-2.19417502e-01 9.74528097e-01 -4.63783168e-02 -5.92774701e+01] [-1.18772901e-01 2.05015688e-02 9.92709768e-01 -2.05277602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:-59.31, Z:-20.53 [[ 9.68955009e-01 2.17487499e-01 1.17581369e-01 2.73178362e+02] [-2.17909585e-01 9.75923583e-01 -9.41132057e-03 -5.93081251e+01] [-1.16797275e-01 -1.65029610e-02 9.93018655e-01 -2.05293253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:-59.30, Z:-20.54 [[ 9.68767086e-01 2.21421369e-01 1.11637404e-01 2.73214107e+02] [-2.17331250e-01 9.74930811e-01 -4.77183579e-02 -5.92966461e+01] [-1.19404609e-01 2.19656780e-02 9.92602664e-01 -2.05400992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:-59.32, Z:-20.55 [[ 9.68749972e-01 2.19082100e-01 1.16303590e-01 2.73241837e+02] [-2.17224819e-01 9.75703447e-01 -2.85685342e-02 -5.93191745e+01] [-1.19736669e-01 2.41174031e-03 9.92802757e-01 -2.05462996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:-59.33, Z:-20.55 [[ 9.68577967e-01 2.19899837e-01 1.16192872e-01 2.73273025e+02] [-2.18049176e-01 9.75519670e-01 -2.85644806e-02 -5.93291496e+01] [-1.19629757e-01 2.33116656e-03 9.92815837e-01 -2.05507240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:-59.35, Z:-20.55 [[ 9.68731155e-01 2.18755736e-01 1.17072099e-01 2.73302410e+02] [-2.18788292e-01 9.75689281e-01 -1.27322561e-02 -5.93471624e+01] [-1.17011246e-01 -1.32798715e-02 9.93041798e-01 -2.05470052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.34, Y:-59.34, Z:-20.55 [[ 9.68034007e-01 2.24488533e-01 1.11870732e-01 2.73336933e+02] [-2.20909733e-01 9.74320024e-01 -4.35818946e-02 -5.93387455e+01] [-1.18781530e-01 1.74754225e-02 9.92766618e-01 -2.05529831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.36, Y:-59.36, Z:-20.56 [[ 9.67260000e-01 2.25142360e-01 1.17128176e-01 2.73364646e+02] [-2.23292083e-01 9.74324289e-01 -2.88587224e-02 -5.93578673e+01] [-1.20618148e-01 1.76009342e-03 9.92697418e-01 -2.05618068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.39, Y:-59.38, Z:-20.56 [[ 9.67433093e-01 2.24171042e-01 1.17560853e-01 2.73393413e+02] [-2.24444767e-01 9.74423845e-01 -1.10777815e-02 -5.93774777e+01] [-1.17037416e-01 -1.56689059e-02 9.93003892e-01 -2.05578566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:-59.37, Z:-20.57 [[ 9.66768849e-01 2.30000220e-01 1.11614921e-01 2.73427211e+02] [-2.26244354e-01 9.73012119e-01 -4.53972278e-02 -5.93673462e+01] [-1.19044043e-01 1.86363800e-02 9.92714058e-01 -2.05688507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:273.45, Y:-59.39, Z:-20.57 [[ 9.66489745e-01 2.30023228e-01 1.13960025e-01 2.73454981e+02] [-2.28300523e-01 9.73184443e-01 -2.81231343e-02 -5.93873764e+01] [-1.17373098e-01 1.16358755e-03 9.93087208e-01 -2.05711502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-59.40, Z:-20.58 [[ 9.66074026e-01 2.31182760e-01 1.15132564e-01 2.73486224e+02] [-2.29429815e-01 9.72909769e-01 -2.84348801e-02 -5.93974374e+01] [-1.18587250e-01 1.05535621e-03 9.92943075e-01 -2.05788463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:-59.41, Z:-20.58 [[ 9.65745082e-01 2.32267441e-01 1.15707699e-01 2.73517785e+02] [-2.30501794e-01 9.72651496e-01 -2.86005110e-02 -5.94069308e+01] [-1.19186235e-01 9.49970534e-04 9.92871462e-01 -2.05831660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:-59.42, Z:-20.59 [[ 9.65279043e-01 2.34278176e-01 1.15542654e-01 2.73547840e+02] [-2.32528865e-01 9.72169332e-01 -2.85852633e-02 -5.94166811e+01] [-1.19023928e-01 7.25753310e-04 9.92891121e-01 -2.05864140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:-59.43, Z:-20.59 [[ 9.65158502e-01 2.34754584e-01 1.15582662e-01 2.73579516e+02] [-2.33005780e-01 9.72054433e-01 -2.86091768e-02 -5.94255024e+01] [-1.19068774e-01 6.80961937e-04 9.92885776e-01 -2.05909399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:-59.44, Z:-20.59 [[ 9.65331564e-01 2.32982397e-01 1.17703753e-01 2.73608637e+02] [-2.33240513e-01 9.72347831e-01 -1.17710754e-02 -5.94437932e+01] [-1.17191442e-01 -1.60902931e-02 9.92978987e-01 -2.05893509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.64, Y:-59.43, Z:-20.60 [[ 9.64843701e-01 2.38000326e-01 1.11501024e-01 2.73642926e+02] [-2.34347643e-01 9.71111444e-01 -4.49860678e-02 -5.94336878e+01] [-1.18986619e-01 1.72745220e-02 9.92745574e-01 -2.05981821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:-59.46, Z:-20.60 [[ 9.64960428e-01 2.35416477e-01 1.15889838e-01 2.73671012e+02] [-2.35074463e-01 9.71832050e-01 -1.68066800e-02 -5.94588868e+01] [-1.16582028e-01 -1.10249602e-02 9.93119872e-01 -2.05981485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:-59.45, Z:-20.61 [[ 9.64573975e-01 2.38903606e-01 1.11902249e-01 2.73703413e+02] [-2.35865835e-01 9.70968740e-01 -3.98373366e-02 -5.94531547e+01] [-1.18170869e-01 1.20321407e-02 9.92920376e-01 -2.06064764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.73, Y:-59.47, Z:-20.61 [[ 9.64494516e-01 2.37514087e-01 1.15487610e-01 2.73733357e+02] [-2.36099920e-01 9.71381570e-01 -2.59744575e-02 -5.94690818e+01] [-1.18351835e-01 -2.21439368e-03 9.92969254e-01 -2.06123927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.76, Y:-59.48, Z:-20.61 [[ 9.64717970e-01 2.36803213e-01 1.15080302e-01 2.73764311e+02] [-2.36504997e-01 9.71491224e-01 -1.64374121e-02 -5.94828256e+01] [-1.15691935e-01 -1.13595997e-02 9.93220185e-01 -2.06113922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.80, Y:-59.48, Z:-20.62 [[ 9.64056060e-01 2.41043850e-01 1.11775563e-01 2.73797339e+02] [-2.37682269e-01 9.70404660e-01 -4.26841407e-02 -5.94753640e+01] [-1.18756276e-01 1.45828352e-02 9.92816341e-01 -2.06199594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:-59.49, Z:-20.62 [[ 9.63720966e-01 2.40786558e-01 1.15168280e-01 2.73825830e+02] [-2.38925833e-01 9.70577217e-01 -2.99050453e-02 -5.94899296e+01] [-1.18980442e-01 1.30344189e-03 9.92895742e-01 -2.06243114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.86, Y:-59.50, Z:-20.63 [[ 9.63417036e-01 2.41200271e-01 1.16833400e-01 2.73857138e+02] [-2.39619500e-01 9.70474352e-01 -2.76048428e-02 -5.94983289e+01] [-1.20042113e-01 -1.40058502e-03 9.92767812e-01 -2.06286083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.89, Y:-59.50, Z:-20.63 [[ 9.62821704e-01 2.43171918e-01 1.17651117e-01 2.73888576e+02] [-2.41402320e-01 9.69983183e-01 -2.92838514e-02 -5.95049330e+01] [-1.21240615e-01 -2.06124879e-04 9.92623126e-01 -2.06330893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.92, Y:-59.51, Z:-20.64 [[ 9.62747409e-01 2.43588234e-01 1.17397609e-01 2.73920536e+02] [-2.41826601e-01 9.69878712e-01 -2.92434302e-02 -5.95124867e+01] [-1.20984798e-01 -2.35828160e-04 9.92654332e-01 -2.06355825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:-59.52, Z:-20.64 [[ 9.62546764e-01 2.43944707e-01 1.18299224e-01 2.73951316e+02] [-2.42155410e-01 9.69789108e-01 -2.94931196e-02 -5.95199434e+01] [-1.21919989e-01 -2.58290310e-04 9.92539898e-01 -2.06415724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.98, Y:-59.53, Z:-20.65 [[ 9.62780531e-01 2.43281083e-01 1.17762315e-01 2.73983114e+02] [-2.41500077e-01 9.69955820e-01 -2.93840220e-02 -5.95273887e+01] [-1.21372820e-01 -1.49243914e-04 9.92606980e-01 -2.06457073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-59.53, Z:-20.65 [[ 9.62970025e-01 2.42563246e-01 1.17693684e-01 2.74013963e+02] [-2.40775792e-01 9.70135594e-01 -2.93929823e-02 -5.95347048e+01] [-1.21308490e-01 -3.32291399e-05 9.92614854e-01 -2.06496569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:-59.54, Z:-20.65 [[ 9.62961745e-01 2.42598012e-01 1.17689774e-01 2.74044558e+02] [-2.40808904e-01 9.70126901e-01 -2.94086301e-02 -5.95423946e+01] [-1.21308491e-01 -2.13598589e-05 9.92614855e-01 -2.06539610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.07, Y:-59.55, Z:-20.66 [[ 9.63328941e-01 2.40753251e-01 1.18470353e-01 2.74074862e+02] [-2.39194362e-01 9.70584451e-01 -2.74204441e-02 -5.95488769e+01] [-1.21587043e-01 -1.92253309e-03 9.92578911e-01 -2.06575947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-59.55, Z:-20.66 [[ 9.63557815e-01 2.40768711e-01 1.16562280e-01 2.74107482e+02] [-2.38736979e-01 9.70579720e-01 -3.12995441e-02 -5.95545308e+01] [-1.20668936e-01 2.33119385e-03 9.92690069e-01 -2.06627521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:-59.56, Z:-20.67 [[ 9.63663458e-01 2.40133944e-01 1.16997560e-01 2.74138726e+02] [-2.38344155e-01 9.70739712e-01 -2.92655947e-02 -5.95645414e+01] [-1.20601840e-01 3.16499694e-04 9.92700910e-01 -2.06675273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:-59.58, Z:-20.67 [[ 9.63806294e-01 2.39080376e-01 1.17974582e-01 2.74167469e+02] [-2.38484397e-01 9.70953477e-01 -1.93529786e-02 -5.95772238e+01] [-1.19174748e-01 -9.48257460e-03 9.92828011e-01 -2.06664455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.20, Y:-59.58, Z:-20.67 [[ 9.63451623e-01 2.40637318e-01 1.17705784e-01 2.74199585e+02] [-2.39411297e-01 9.70605033e-01 -2.46596997e-02 -5.95814109e+01] [-1.20179871e-01 -4.42166690e-03 9.92742287e-01 -2.06703082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.23, Y:-59.58, Z:-20.68 [[ 9.63050690e-01 2.43931037e-01 1.14153488e-01 2.74232024e+02] [-2.40479968e-01 9.69687936e-01 -4.32977112e-02 -5.95774801e+01] [-1.21254916e-01 1.42462635e-02 9.92519163e-01 -2.06784653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.26, Y:-59.59, Z:-20.68 [[ 9.62879098e-01 2.43045443e-01 1.17442562e-01 2.74259898e+02] [-2.41256833e-01 9.70014903e-01 -2.94317491e-02 -5.95924065e+01] [-1.21074288e-01 5.39531549e-06 9.92643449e-01 -2.06838203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.29, Y:-59.60, Z:-20.69 [[ 9.62488688e-01 2.44323366e-01 1.17989907e-01 2.74291446e+02] [-2.42525282e-01 9.69693804e-01 -2.95873947e-02 -5.95991486e+01] [-1.21642974e-01 -1.38002788e-04 9.92573911e-01 -2.06883539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.32, Y:-59.61, Z:-20.69 [[ 9.62687730e-01 2.43084178e-01 1.18921891e-01 2.74321827e+02] [-2.42670741e-01 9.69938572e-01 -1.81680245e-02 -5.96122968e+01] [-1.19763288e-01 -1.13687291e-02 9.92737381e-01 -2.06880241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.35, Y:-59.61, Z:-20.70 [[ 9.62261382e-01 2.46365941e-01 1.15571863e-01 2.74354392e+02] [-2.43238662e-01 9.69114439e-01 -4.06467389e-02 -5.96072195e+01] [-1.22016334e-01 1.10012418e-02 9.92467121e-01 -2.06959483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.38, Y:-59.62, Z:-20.70 [[ 9.62441878e-01 2.44951208e-01 1.17066382e-01 2.74384043e+02] [-2.43179649e-01 9.69535393e-01 -2.94071423e-02 -5.96218789e+01] [-1.20703316e-01 -1.65496511e-04 9.92688613e-01 -2.07013548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:-59.63, Z:-20.71 [[ 9.62509198e-01 2.44847497e-01 1.16729375e-01 2.74413707e+02] [-2.43082411e-01 9.69561595e-01 -2.93471405e-02 -5.96296157e+01] [-1.20361893e-01 -1.27965261e-04 9.92730073e-01 -2.07059504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:-59.64, Z:-20.71 [[ 9.62586637e-01 2.43425879e-01 1.19041205e-01 2.74444751e+02] [-2.42280909e-01 9.69903758e-01 -2.42211081e-02 -5.96400830e+01] [-1.21354557e-01 -5.52649635e-03 9.92593839e-01 -2.07115647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.48, Y:-59.64, Z:-20.71 [[ 9.62961699e-01 2.43689971e-01 1.15412150e-01 2.74477800e+02] [-2.41255246e-01 9.69836454e-01 -3.48304375e-02 -5.96418346e+01] [-1.20418739e-01 5.69659062e-03 9.92706843e-01 -2.07140716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13264 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:274.51, Y:-59.65, Z:-20.72 [[ 9.62945318e-01 2.42460267e-01 1.18107294e-01 2.74508033e+02] [-2.40627744e-01 9.70161309e-01 -2.97543952e-02 -5.96528158e+01] [-1.21797386e-01 2.31963927e-04 9.92554957e-01 -2.07170070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.54, Y:-59.66, Z:-20.72 [[ 9.63091117e-01 2.41906639e-01 1.18053707e-01 2.74538568e+02] [-2.40069835e-01 9.70299478e-01 -2.97556155e-02 -5.96608844e+01] [-1.21745531e-01 3.16235004e-04 9.92561296e-01 -2.07217648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:274.57, Y:-59.67, Z:-20.73 [[ 9.63132600e-01 2.40924946e-01 1.19711173e-01 2.74568390e+02] [-2.39422446e-01 9.70540103e-01 -2.69963101e-02 -5.96704519e+01] [-1.22688578e-01 -2.66051535e-03 9.92441653e-01 -2.07265925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:-59.68, Z:-20.73 [[ 9.63528031e-01 2.39455414e-01 1.19477352e-01 2.74599202e+02] [-2.37507967e-01 9.70906842e-01 -3.04937725e-02 -5.96776910e+01] [-1.23303277e-01 1.00478162e-03 9.92368526e-01 -2.07317411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:-59.69, Z:-20.74 [[ 9.63737673e-01 2.38254259e-01 1.20185714e-01 2.74628896e+02] [-2.36208713e-01 9.71201365e-01 -3.11986028e-02 -5.96860968e+01] [-1.24157729e-01 1.67835614e-03 9.92261075e-01 -2.07357093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.66, Y:-59.69, Z:-20.74 [[ 9.64189120e-01 2.36671027e-01 1.19691965e-01 2.74659773e+02] [-2.34480234e-01 9.71585053e-01 -3.22723568e-02 -5.96942619e+01] [-1.23928856e-01 3.05125534e-03 9.92286415e-01 -2.07392019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:-59.70, Z:-20.74 [[ 9.64602829e-01 2.34898236e-01 1.19850746e-01 2.74690883e+02] [-2.32940502e-01 9.72019097e-01 -3.02918755e-02 -5.97041624e+01] [-1.23612722e-01 1.30153571e-03 9.92329684e-01 -2.07435497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:-59.72, Z:-20.75 [[ 9.65186615e-01 2.32410687e-01 1.20000291e-01 2.74721777e+02] [-2.30425900e-01 9.72616350e-01 -3.03535939e-02 -5.97158356e+01] [-1.23768745e-01 1.64570751e-03 9.92309725e-01 -2.07482256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:-59.73, Z:-20.75 [[ 9.65168020e-01 2.31933557e-01 1.21068235e-01 2.74751404e+02] [-2.29993284e-01 9.72731044e-01 -2.99567330e-02 -5.97260175e+01] [-1.24714802e-01 1.06839972e-03 9.92192056e-01 -2.07527712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.78, Y:-59.73, Z:-20.76 [[ 9.65476538e-01 2.30844244e-01 1.20689640e-01 2.74783394e+02] [-2.28763374e-01 9.72987919e-01 -3.10133531e-02 -5.97344214e+01] [-1.24588815e-01 2.33329560e-03 9.92205716e-01 -2.07568781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.81, Y:-59.75, Z:-20.76 [[ 9.65817406e-01 2.30116931e-01 1.19343775e-01 2.74814097e+02] [-2.28129291e-01 9.73160961e-01 -3.02451783e-02 -5.97452392e+01] [-1.23100630e-01 1.98550890e-03 9.92392207e-01 -2.07615883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.84, Y:-59.76, Z:-20.77 [[ 9.65843720e-01 2.30137778e-01 1.19090348e-01 2.74844500e+02] [-2.28155695e-01 9.73155995e-01 -3.02057494e-02 -5.97553977e+01] [-1.22844970e-01 2.00289238e-03 9.92423852e-01 -2.07661324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:274.87, Y:-59.77, Z:-20.77 [[ 9.65464325e-01 2.30465140e-01 1.21509082e-01 2.74873114e+02] [-2.28857832e-01 9.73079373e-01 -2.72144468e-02 -5.97672840e+01] [-1.24509963e-01 -1.53372752e-03 9.92217172e-01 -2.07697838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.90, Y:-59.77, Z:-20.77 [[ 9.65588065e-01 2.31027101e-01 1.19441064e-01 2.74904541e+02] [-2.28892635e-01 9.72942509e-01 -3.14807265e-02 -5.97744977e+01] [-1.23482190e-01 3.05823390e-03 9.92342076e-01 -2.07749272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.94, Y:-59.79, Z:-20.78 [[ 9.65765903e-01 2.30670705e-01 1.18689704e-01 2.74935999e+02] [-2.28475589e-01 9.73024622e-01 -3.19685849e-02 -5.97862548e+01] [-1.22862220e-01 3.75646920e-03 9.92416628e-01 -2.07788404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:274.97, Y:-59.80, Z:-20.78 [[ 9.65599939e-01 2.30616350e-01 1.20136822e-01 2.74966730e+02] [-2.28592705e-01 9.73042621e-01 -3.05521315e-02 -5.97980190e+01] [-1.23944069e-01 2.03873528e-03 9.92287111e-01 -2.07818497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.00, Y:-59.81, Z:-20.79 [[ 9.65608030e-01 2.30408698e-01 1.20469763e-01 2.74997701e+02] [-2.28368982e-01 9.73091690e-01 -3.06621930e-02 -5.98082480e+01] [-1.24292961e-01 2.09610275e-03 9.92243350e-01 -2.07872172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.03, Y:-59.82, Z:-20.79 [[ 9.65635333e-01 2.30357231e-01 1.20349281e-01 2.75027570e+02] [-2.28317966e-01 9.73103811e-01 -3.06574670e-02 -5.98178542e+01] [-1.24174513e-01 2.12603024e-03 9.92258117e-01 -2.07923575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.06, Y:-59.83, Z:-20.80 [[ 9.65757542e-01 2.29946937e-01 1.20153134e-01 2.75058571e+02] [-2.27908177e-01 9.73200684e-01 -3.06315332e-02 -5.98298005e+01] [-1.23976740e-01 2.19875236e-03 9.92282688e-01 -2.07965313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.09, Y:-59.84, Z:-20.80 [[ 9.65846058e-01 2.29484044e-01 1.20326496e-01 2.75089774e+02] [-2.27432785e-01 9.73309741e-01 -3.06997783e-02 -5.98410123e+01] [-1.24160060e-01 2.28506972e-03 9.92259572e-01 -2.08018501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.12, Y:-59.85, Z:-20.81 [[ 9.66082831e-01 2.28932585e-01 1.19473160e-01 2.75120158e+02] [-2.26903179e-01 9.73439411e-01 -3.05067268e-02 -5.98526688e+01] [-1.23283866e-01 2.36318524e-03 9.92368633e-01 -2.08055803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.15, Y:-59.87, Z:-20.81 [[ 9.66306635e-01 2.28018627e-01 1.19411024e-01 2.75149108e+02] [-2.25981297e-01 9.73653553e-01 -3.05157733e-02 -5.98666737e+01] [-1.23223132e-01 2.50293629e-03 9.92375834e-01 -2.08091820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.18, Y:-59.88, Z:-20.81 [[ 9.66401639e-01 2.27800962e-01 1.19057103e-01 2.75178394e+02] [-2.25771262e-01 9.73704391e-01 -3.04482392e-02 -5.98776215e+01] [-1.22862563e-01 2.54555578e-03 9.92420431e-01 -2.08146355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.21, Y:-59.89, Z:-20.82 [[ 9.66429540e-01 2.27742850e-01 1.18941741e-01 2.75209140e+02] [-2.25713921e-01 9.73717915e-01 -3.04408869e-02 -5.98889567e+01] [-1.22748399e-01 2.57216554e-03 9.92434489e-01 -2.08192895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.24, Y:-59.90, Z:-20.82 [[ 9.66400144e-01 2.28043258e-01 1.18604532e-01 2.75239671e+02] [-2.26025090e-01 9.73647660e-01 -3.03791481e-02 -5.99003079e+01] [-1.22406785e-01 2.55081309e-03 9.92476736e-01 -2.08226744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:275.27, Y:-59.91, Z:-20.83 [[ 9.66205171e-01 2.29573187e-01 1.17233610e-01 2.75269071e+02] [-2.27609844e-01 9.73288557e-01 -3.00523632e-02 -5.99139503e+01] [-1.21001348e-01 2.35322491e-03 9.92649554e-01 -2.08263548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.30, Y:-59.93, Z:-20.83 [[ 9.65974036e-01 2.30847952e-01 1.16633548e-01 2.75299777e+02] [-2.28911271e-01 9.72987341e-01 -2.99209764e-02 -5.99250756e+01] [-1.20390161e-01 2.20415267e-03 9.92724207e-01 -2.08334832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:275.33, Y:-59.94, Z:-20.84 [[ 9.65461572e-01 2.32996582e-01 1.16604224e-01 2.75330608e+02] [-2.31073553e-01 9.72475580e-01 -2.99375933e-02 -5.99369106e+01] [-1.20370117e-01 1.95944359e-03 9.92727151e-01 -2.08356356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:275.36, Y:-59.95, Z:-20.84 [[ 9.64226492e-01 2.38094691e-01 1.16525490e-01 2.75359947e+02] [-2.36208354e-01 9.71241013e-01 -2.99417467e-02 -5.99509403e+01] [-1.20303306e-01 1.34633119e-03 9.92736270e-01 -2.08397519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:-59.96, Z:-20.85 [[ 9.63579626e-01 2.40860701e-01 1.16191336e-01 2.75390376e+02] [-2.39002315e-01 9.70559158e-01 -2.98800053e-02 -5.99612343e+01] [-1.19967484e-01 1.02176611e-03 9.92777296e-01 -2.08464231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:-59.97, Z:-20.85 [[ 9.62722325e-01 2.44318684e-01 1.16078018e-01 2.75421462e+02] [-2.42486035e-01 9.69694799e-01 -2.98750607e-02 -5.99714734e+01] [-1.19859285e-01 6.14089665e-04 9.92790700e-01 -2.08508798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.45, Y:-59.98, Z:-20.86 [[ 9.61808290e-01 2.47941471e-01 1.15973448e-01 2.75452626e+02] [-2.46135442e-01 9.68774996e-01 -2.98722587e-02 -5.99813569e+01] [-1.19758749e-01 1.86210081e-04 9.92803005e-01 -2.08554576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:-59.99, Z:-20.86 [[ 9.59902515e-01 2.54935658e-01 1.16597481e-01 2.75481606e+02] [-2.53158376e-01 9.66957790e-01 -3.00577628e-02 -5.99939190e+01] [-1.20407638e-01 -6.65106823e-04 9.92724311e-01 -2.08599564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.51, Y:-60.00, Z:-20.86 [[ 9.59022083e-01 2.57961402e-01 1.17186003e-01 2.75511449e+02] [-2.56185733e-01 9.66154677e-01 -3.02326138e-02 -6.00037744e+01] [-1.21018653e-01 -1.02763793e-03 9.92649701e-01 -2.08641778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:-60.01, Z:-20.87 [[ 9.58342625e-01 2.60471103e-01 1.17193076e-01 2.75541551e+02] [-2.58711156e-01 9.65480738e-01 -3.02569467e-02 -6.00129435e+01] [-1.21028717e-01 -1.32263430e-03 9.92648125e-01 -2.08679260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:-60.02, Z:-20.87 [[ 9.57759196e-01 2.62528691e-01 1.17371241e-01 2.75572716e+02] [-2.60776032e-01 9.64922920e-01 -3.03252217e-02 -6.00217830e+01] [-1.21215442e-01 -1.56334663e-03 9.92624991e-01 -2.08724669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-60.03, Z:-20.88 [[ 9.57244069e-01 2.64180746e-01 1.17865709e-01 2.75603395e+02] [-2.62422733e-01 9.64471590e-01 -3.04772216e-02 -6.00310236e+01] [-1.21729623e-01 -1.75650177e-03 9.92561743e-01 -2.08770766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:-60.04, Z:-20.88 [[ 9.56658423e-01 2.65948258e-01 1.18643104e-01 2.75634572e+02] [-2.64177661e-01 9.63985286e-01 -3.07006717e-02 -6.00406996e+01] [-1.22534996e-01 -1.97280147e-03 9.92462232e-01 -2.08814072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:-60.05, Z:-20.89 [[ 9.56404815e-01 2.66729522e-01 1.18933561e-01 2.75665912e+02] [-2.64953246e-01 9.63769236e-01 -3.07999469e-02 -6.00491150e+01] [-1.22839762e-01 -2.05461555e-03 9.92424391e-01 -2.08861626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.70, Y:-60.06, Z:-20.89 [[ 9.56238081e-01 2.67307650e-01 1.18976271e-01 2.75697661e+02] [-2.65531587e-01 9.63608937e-01 -3.08349310e-02 -6.00579990e+01] [-1.22889011e-01 -2.10642268e-03 9.92418185e-01 -2.08911730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:-60.07, Z:-20.90 [[ 9.56049190e-01 2.67933424e-01 1.19086637e-01 2.75728930e+02] [-2.66155802e-01 9.63434997e-01 -3.08884272e-02 -6.00677544e+01] [-1.23008276e-01 -2.16474358e-03 9.92403284e-01 -2.08954961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:-60.08, Z:-20.90 [[ 9.56009528e-01 2.68154262e-01 1.18907837e-01 2.75759702e+02] [-2.66380429e-01 9.63373556e-01 -3.08684150e-02 -6.00752579e+01] [-1.22830163e-01 -2.16422165e-03 9.92425346e-01 -2.08997938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.79, Y:-60.08, Z:-20.90 [[ 9.56090587e-01 2.68100234e-01 1.18376744e-01 2.75791661e+02] [-2.66340038e-01 9.63388662e-01 -3.07452431e-02 -6.00826848e+01] [-1.22285620e-01 -2.13322900e-03 9.92492658e-01 -2.09046840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.82, Y:-60.09, Z:-20.91 [[ 9.56235443e-01 2.67751928e-01 1.17994421e-01 2.75822195e+02] [-2.65997427e-01 9.63485688e-01 -3.06707993e-02 -6.00898787e+01] [-1.21898101e-01 -2.05770702e-03 9.92540487e-01 -2.09092691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.85, Y:-60.10, Z:-20.91 [[ 9.56569303e-01 2.66194908e-01 1.18808417e-01 2.75852650e+02] [-2.64401153e-01 9.63917450e-01 -3.09059755e-02 -6.00974506e+01] [-1.22748520e-01 -1.84937512e-03 9.92436084e-01 -2.09135479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:-60.11, Z:-20.92 [[ 9.56953905e-01 2.64685471e-01 1.19083268e-01 2.75884632e+02] [-2.62869012e-01 9.64333406e-01 -3.09994294e-02 -6.01057349e+01] [-1.23041072e-01 -1.63827607e-03 9.92400227e-01 -2.09184690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:-60.11, Z:-20.92 [[ 9.57492846e-01 2.62735685e-01 1.19068926e-01 2.75915233e+02] [-2.60901529e-01 9.64866883e-01 -3.10208023e-02 -6.01136266e+01] [-1.23035936e-01 -1.36306866e-03 9.92401280e-01 -2.09226389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.95, Y:-60.12, Z:-20.93 [[ 9.58045425e-01 2.60464106e-01 1.19613602e-01 2.75946604e+02] [-2.58592530e-01 9.65482957e-01 -3.11859634e-02 -6.01220646e+01] [-1.23607718e-01 -1.05361430e-03 9.92330601e-01 -2.09260434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.98, Y:-60.13, Z:-20.93 [[ 9.59557684e-01 2.54632164e-01 1.20047957e-01 2.75977041e+02] [-2.52698103e-01 9.67037943e-01 -3.13254682e-02 -6.01320795e+01] [-1.24067401e-01 -2.77297199e-04 9.92273754e-01 -2.09314313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.01, Y:-60.14, Z:-20.94 [[ 9.59538231e-01 2.54707340e-01 1.20043968e-01 2.76009126e+02] [-2.52771953e-01 9.67018147e-01 -3.13407462e-02 -6.01406037e+01] [-1.24067414e-01 -2.71103998e-04 9.92273754e-01 -2.09359699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.04, Y:-60.15, Z:-20.94 [[ 9.60239845e-01 2.51987930e-01 1.20172889e-01 2.76040195e+02] [-2.50026064e-01 9.67730373e-01 -3.13829925e-02 -6.01493524e+01] [-1.24203090e-01 8.88453619e-05 9.92256814e-01 -2.09405048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.07, Y:-60.16, Z:-20.94 [[ 9.60893854e-01 2.49733463e-01 1.19650317e-01 2.76072081e+02] [-2.47768295e-01 9.68314534e-01 -3.12703661e-02 -6.01581805e+01] [-1.23668398e-01 4.01947436e-04 9.92323519e-01 -2.09447488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.10, Y:-60.17, Z:-20.95 [[ 9.61424481e-01 2.47817252e-01 1.19371595e-01 2.76103069e+02] [-2.45843415e-01 9.68806564e-01 -3.12226906e-02 -6.01674775e+01] [-1.23385506e-01 6.71538579e-04 9.92358587e-01 -2.09492817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.13, Y:-60.18, Z:-20.95 [[ 9.62319329e-01 2.44253609e-01 1.19506001e-01 2.76133269e+02] [-2.42244769e-01 9.69710700e-01 -3.12830699e-02 -6.01786602e+01] [-1.23527251e-01 1.15459919e-03 9.92340509e-01 -2.09543232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.16, Y:-60.19, Z:-20.96 [[ 9.62574861e-01 2.43091821e-01 1.19816546e-01 2.76163288e+02] [-2.41060578e-01 9.70002370e-01 -3.13878967e-02 -6.01881389e+01] [-1.23852474e-01 1.33015438e-03 9.92299751e-01 -2.09583300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.19, Y:-60.20, Z:-20.96 [[ 9.62775160e-01 2.42268153e-01 1.19875492e-01 2.76194008e+02] [-2.40225669e-01 9.70208232e-01 -3.14263472e-02 -6.01971302e+01] [-1.23917792e-01 1.45933614e-03 9.92291414e-01 -2.09622832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.23, Y:-60.21, Z:-20.97 [[ 9.62923884e-01 2.41450745e-01 1.20329264e-01 2.76225108e+02] [-2.39383512e-01 9.70411769e-01 -3.15679052e-02 -6.02071475e+01] [-1.24391028e-01 1.59264811e-03 9.92231997e-01 -2.09669933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:-60.22, Z:-20.97 [[ 9.62965101e-01 2.41461993e-01 1.19976334e-01 2.76255629e+02] [-2.39403878e-01 9.70408940e-01 -3.15003584e-02 -6.02166274e+01] [-1.24032246e-01 1.61094621e-03 9.92276880e-01 -2.09716548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.29, Y:-60.23, Z:-20.98 [[ 9.62842582e-01 2.41872482e-01 1.20132692e-01 2.76285754e+02] [-2.40040440e-01 9.70308019e-01 -2.97142433e-02 -6.02268147e+01] [-1.23752772e-01 -2.26565431e-04 9.92313055e-01 -2.09758351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.32, Y:-60.23, Z:-20.98 [[ 9.62722808e-01 2.43297771e-01 1.18198939e-01 2.76317704e+02] [-2.41109742e-01 9.69947086e-01 -3.26916270e-02 -6.02339662e+01] [-1.22600516e-01 2.97405923e-03 9.92451645e-01 -2.09810686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:276.35, Y:-60.24, Z:-20.98 [[ 9.62511626e-01 2.43843422e-01 1.18792909e-01 2.76347750e+02] [-2.41836072e-01 9.69813670e-01 -3.12531523e-02 -6.02438236e+01] [-1.22827863e-01 1.35311195e-03 9.92427068e-01 -2.09846706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:-60.25, Z:-20.99 [[ 9.62255777e-01 2.44963627e-01 1.18560706e-01 2.76378383e+02] [-2.42970782e-01 9.69531499e-01 -3.12069199e-02 -6.02529633e+01] [-1.22592900e-01 1.22225146e-03 9.92456290e-01 -2.09902971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.41, Y:-60.26, Z:-20.99 [[ 9.61988452e-01 2.46064416e-01 1.18450498e-01 2.76409467e+02] [-2.44080788e-01 9.69252849e-01 -3.12006916e-02 -6.02616856e+01] [-1.22485863e-01 1.10321407e-03 9.92469645e-01 -2.09945456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:276.44, Y:-60.27, Z:-21.00 [[ 9.61412253e-01 2.47750931e-01 1.19607506e-01 2.76441052e+02] [-2.45738147e-01 9.68823321e-01 -3.15299151e-02 -6.02711554e+01] [-1.23690107e-01 9.21119717e-04 9.92320467e-01 -2.09976269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.47, Y:-60.28, Z:-21.00 [[ 9.61307758e-01 2.48174051e-01 1.19570212e-01 2.76471536e+02] [-2.46162670e-01 9.68715049e-01 -3.15450938e-02 -6.02805687e+01] [-1.23658138e-01 8.90820584e-04 9.92324479e-01 -2.10023786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:-60.29, Z:-21.01 [[ 9.61213059e-01 2.48613131e-01 1.19419285e-01 2.76501452e+02] [-2.46607332e-01 9.68602487e-01 -3.15284896e-02 -6.02901029e+01] [-1.23508213e-01 8.55924731e-04 9.92343181e-01 -2.10076663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:-60.30, Z:-21.01 [[ 9.61443665e-01 2.47906016e-01 1.19032294e-01 2.76532484e+02] [-2.45905104e-01 9.68783606e-01 -3.14484382e-02 -6.03011738e+01] [-1.23112792e-01 9.65252934e-04 9.92392215e-01 -2.10130300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:-60.31, Z:-21.02 [[ 9.61576272e-01 2.47433217e-01 1.18944842e-01 2.76564023e+02] [-2.45428737e-01 9.68904384e-01 -3.14488524e-02 -6.03107506e+01] [-1.23027670e-01 1.04798790e-03 9.92402688e-01 -2.10183483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.59, Y:-60.32, Z:-21.02 [[ 9.61754482e-01 2.46943833e-01 1.18520295e-01 2.76594659e+02] [-2.44946910e-01 9.69029135e-01 -3.13615528e-02 -6.03200467e+01] [-1.22594161e-01 1.13093390e-03 9.92456242e-01 -2.10228710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:-60.33, Z:-21.03 [[ 9.61830360e-01 2.46737455e-01 1.18334217e-01 2.76625868e+02] [-2.44743544e-01 9.69081659e-01 -3.13262777e-02 -6.03300349e+01] [-1.22404885e-01 1.16902927e-03 9.92479560e-01 -2.10273774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:-60.34, Z:-21.03 [[ 9.61800467e-01 2.46487486e-01 1.19095682e-01 2.76656770e+02] [-2.44462834e-01 9.69145191e-01 -3.15518900e-02 -6.03407012e+01] [-1.23198154e-01 1.23215451e-03 9.92381326e-01 -2.10319336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:-60.35, Z:-21.04 [[ 9.61552724e-01 2.47051990e-01 1.19923617e-01 2.76687712e+02] [-2.45000315e-01 9.69001493e-01 -3.17954629e-02 -6.03536827e+01] [-1.24061296e-01 1.19169006e-03 9.92273841e-01 -2.10362161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:-60.36, Z:-21.04 [[ 9.61364372e-01 2.48000655e-01 1.19474764e-01 2.76718673e+02] [-2.45968672e-01 9.68759253e-01 -3.17005116e-02 -6.03635535e+01] [-1.23604031e-01 1.08869336e-03 9.92331023e-01 -2.10403811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:-60.37, Z:-21.05 [[ 9.60729663e-01 2.50946205e-01 1.18425152e-01 2.76748789e+02] [-2.48969161e-01 9.68000761e-01 -3.14465245e-02 -6.03745968e+01] [-1.22527023e-01 7.27398217e-04 9.92464911e-01 -2.10452569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:276.78, Y:-60.38, Z:-21.05 [[ 9.60154285e-01 2.53035244e-01 1.18646171e-01 2.76779884e+02] [-2.51063832e-01 9.67456940e-01 -3.15280987e-02 -6.03833800e+01] [-1.22762782e-01 4.84076689e-04 9.92435925e-01 -2.10490405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.81, Y:-60.39, Z:-21.05 [[ 9.59550944e-01 2.55259781e-01 1.18762076e-01 2.76810872e+02] [-2.53298319e-01 9.66872481e-01 -3.15842978e-02 -6.03915686e+01] [-1.22889984e-01 2.24508684e-04 9.92420275e-01 -2.10539752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.84, Y:-60.40, Z:-21.06 [[ 9.58802074e-01 2.57906151e-01 1.19092402e-01 2.76842209e+02] [-2.55952245e-01 9.66169968e-01 -3.16866108e-02 -6.03996443e+01] [-1.23235674e-01 -1.00779518e-04 9.92377427e-01 -2.10589771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-60.41, Z:-21.06 [[ 9.57553885e-01 2.62327411e-01 1.19477559e-01 2.76873785e+02] [-2.60392061e-01 9.64978709e-01 -3.18129803e-02 -6.04093829e+01] [-1.23638718e-01 -6.48365047e-04 9.92327087e-01 -2.10631487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.90, Y:-60.42, Z:-21.07 [[ 9.57034851e-01 2.64284914e-01 1.19322160e-01 2.76904699e+02] [-2.62366741e-01 9.64444253e-01 -3.17958611e-02 -6.04189897e+01] [-1.23482738e-01 -8.76419114e-04 9.92346333e-01 -2.10667613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:276.93, Y:-60.43, Z:-21.07 [[ 9.56681771e-01 2.65525975e-01 1.19398266e-01 2.76934722e+02] [-2.63611781e-01 9.64103175e-01 -3.18417518e-02 -6.04282057e+01] [-1.23567059e-01 -1.01236594e-03 9.92335708e-01 -2.10712420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.97, Y:-60.44, Z:-21.08 [[ 9.56358889e-01 2.66571802e-01 1.19654291e-01 2.76965341e+02] [-2.64654540e-01 9.63814404e-01 -3.19338376e-02 -6.04370547e+01] [-1.23837190e-01 -1.12684188e-03 9.92301910e-01 -2.10765978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.00, Y:-60.44, Z:-21.08 [[ 9.56113509e-01 2.67263288e-01 1.20072029e-01 2.76997024e+02] [-2.65335060e-01 9.63622800e-01 -3.20687714e-02 -6.04444705e+01] [-1.24274950e-01 -1.19793353e-03 9.92247097e-01 -2.10801074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.02, Y:-60.45, Z:-21.08 [[ 9.55693184e-01 2.67745412e-01 1.22323063e-01 2.77024972e+02] [-2.66123883e-01 9.63480736e-01 -2.97144703e-02 -6.04534426e+01] [-1.25811828e-01 -4.15517185e-03 9.92045422e-01 -2.10849411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:-60.46, Z:-21.09 [[ 9.55806932e-01 2.68276286e-01 1.20253664e-01 2.77056980e+02] [-2.66003793e-01 9.63341079e-01 -3.48704397e-02 -6.04590725e+01] [-1.25200206e-01 1.34147725e-03 9.92130591e-01 -2.10896386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:-60.47, Z:-21.09 [[ 9.56107018e-01 2.67432377e-01 1.19746793e-01 2.77087370e+02] [-2.65507147e-01 9.63575947e-01 -3.20522981e-02 -6.04703429e+01] [-1.23956952e-01 -1.14820216e-03 9.92286932e-01 -2.10943662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:-60.48, Z:-21.10 [[ 9.56132383e-01 2.67434463e-01 1.19539428e-01 2.77118441e+02] [-2.65512789e-01 9.63575399e-01 -3.20220242e-02 -6.04791077e+01] [-1.23749045e-01 -1.12195267e-03 9.92312912e-01 -2.10989109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-60.49, Z:-21.10 [[ 9.56115091e-01 2.67475136e-01 1.19586725e-01 2.77148524e+02] [-2.65549073e-01 9.63564131e-01 -3.20601698e-02 -6.04881048e+01] [-1.23804777e-01 -1.10293188e-03 9.92305981e-01 -2.11033707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:-60.50, Z:-21.11 [[ 9.56035082e-01 2.67675183e-01 1.19778619e-01 2.77178619e+02] [-2.65741523e-01 9.63508572e-01 -3.21352455e-02 -6.04974202e+01] [-1.24009534e-01 -1.10773060e-03 9.92280408e-01 -2.11078584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-60.51, Z:-21.11 [[ 9.55934735e-01 2.68144947e-01 1.19528527e-01 2.77210628e+02] [-2.66220166e-01 9.63377900e-01 -3.20911873e-02 -6.05062869e+01] [-1.23756231e-01 -1.14382378e-03 9.92311991e-01 -2.11118197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-60.51, Z:-21.12 [[ 9.55823318e-01 2.68688452e-01 1.19198577e-01 2.77241664e+02] [-2.66775328e-01 9.63226406e-01 -3.20283416e-02 -6.05140192e+01] [-1.23420862e-01 -1.18580364e-03 9.92353709e-01 -2.11163256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.27, Y:-60.52, Z:-21.12 [[ 9.55630208e-01 2.69409802e-01 1.19118699e-01 2.77271976e+02] [-2.67501854e-01 9.63024810e-01 -3.20308364e-02 -6.05228537e+01] [-1.23343684e-01 -1.25483796e-03 9.92363220e-01 -2.11215119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:-60.53, Z:-21.13 [[ 9.55498097e-01 2.69892093e-01 1.19086713e-01 2.77303252e+02] [-2.67986047e-01 9.62889704e-01 -3.20452256e-02 -6.05325916e+01] [-1.23316123e-01 -1.29442545e-03 9.92366595e-01 -2.11259593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.33, Y:-60.54, Z:-21.13 [[ 9.55125362e-01 2.70828157e-01 1.19948541e-01 2.77334998e+02] [-2.68898533e-01 9.62626691e-01 -3.23022156e-02 -6.05426475e+01] [-1.24214017e-01 -1.40132135e-03 9.92254460e-01 -2.11293374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:-60.55, Z:-21.13 [[ 9.54945189e-01 2.71250961e-01 1.20426750e-01 2.77365192e+02] [-2.69305957e-01 9.62507585e-01 -3.24569012e-02 -6.05508296e+01] [-1.24715626e-01 -1.43707967e-03 9.92191487e-01 -2.11343837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.40, Y:-60.56, Z:-21.14 [[ 9.54781393e-01 2.71620725e-01 1.20891160e-01 2.77397192e+02] [-2.69660563e-01 9.62403256e-01 -3.26060433e-02 -6.05595167e+01] [-1.25202523e-01 -1.46793472e-03 9.92130119e-01 -2.11390776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:-60.57, Z:-21.14 [[ 9.54714416e-01 2.72049750e-01 1.20454631e-01 2.77427727e+02] [-2.70103896e-01 9.62282029e-01 -3.25143353e-02 -6.05679589e+01] [-1.24756844e-01 -1.49336056e-03 9.92186222e-01 -2.11431539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:-60.58, Z:-21.15 [[ 9.54721601e-01 2.72288820e-01 1.19856009e-01 2.77459535e+02] [-2.70362358e-01 9.62214394e-01 -3.23674872e-02 -6.05767894e+01] [-1.24140482e-01 -1.50261415e-03 9.92263515e-01 -2.11476708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:-60.59, Z:-21.15 [[ 9.54654310e-01 2.72405208e-01 1.20127225e-01 2.77491030e+02] [-2.70467731e-01 9.62181460e-01 -3.24660454e-02 -6.05856406e+01] [-1.24428109e-01 -1.49668791e-03 9.92227497e-01 -2.11526396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:-60.59, Z:-21.16 [[ 9.54599689e-01 2.72490818e-01 1.20366886e-01 2.77521088e+02] [-2.70543022e-01 9.62157236e-01 -3.25565230e-02 -6.05949356e+01] [-1.24683224e-01 -1.48597446e-03 9.92195488e-01 -2.11566876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:-60.60, Z:-21.16 [[ 9.54679993e-01 2.72254972e-01 1.20263636e-01 2.77552128e+02] [-2.70305708e-01 9.62224081e-01 -3.25521379e-02 -6.06040220e+01] [-1.24583048e-01 -1.43107254e-03 9.92208152e-01 -2.11612354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.58, Y:-60.61, Z:-21.17 [[ 9.54704866e-01 2.72126423e-01 1.20357088e-01 2.77582812e+02] [-2.70169878e-01 9.62260503e-01 -3.26030831e-02 -6.06131269e+01] [-1.24687033e-01 -1.39053780e-03 9.92195147e-01 -2.11662220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.61, Y:-60.62, Z:-21.17 [[ 9.54679651e-01 2.71743492e-01 1.21417621e-01 2.77612684e+02] [-2.69970584e-01 9.62364884e-01 -3.11402123e-02 -6.06227834e+01] [-1.25310205e-01 -3.05025919e-03 9.92112921e-01 -2.11709337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19264 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.65, Y:-60.63, Z:-21.17 [[ 9.54560120e-01 2.73045638e-01 1.19419665e-01 2.77645358e+02] [-2.70908870e-01 9.62001062e-01 -3.40931246e-02 -6.06275667e+01] [-1.24190824e-01 1.92090514e-04 9.92258335e-01 -2.11734778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:-60.64, Z:-21.18 [[ 9.54552213e-01 2.72884560e-01 1.19850277e-01 2.77676435e+02] [-2.70944167e-01 9.62045716e-01 -3.25161325e-02 -6.06356890e+01] [-1.24174597e-01 -1.43438742e-03 9.92259347e-01 -2.11799921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.71, Y:-60.64, Z:-21.18 [[ 9.54470111e-01 2.73529754e-01 1.19030587e-01 2.77706783e+02] [-2.71617662e-01 9.61862400e-01 -3.23197990e-02 -6.06448698e+01] [-1.23331472e-01 -1.48252757e-03 9.92364424e-01 -2.11828892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-60.65, Z:-21.19 [[ 9.54535301e-01 2.73348078e-01 1.18925133e-01 2.77736731e+02] [-2.71434941e-01 9.61914119e-01 -3.23156457e-02 -6.06530165e+01] [-1.23229184e-01 -1.43401184e-03 9.92377202e-01 -2.11889450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:-60.66, Z:-21.19 [[ 9.54559623e-01 2.73642604e-01 1.18049363e-01 2.77768094e+02] [-2.71758149e-01 9.61830354e-01 -3.20917148e-02 -6.06603755e+01] [-1.22325121e-01 -1.44742106e-03 9.92489028e-01 -2.11937234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:-60.67, Z:-21.20 [[ 9.54600214e-01 2.73660807e-01 1.17678353e-01 2.77799994e+02] [-2.71785430e-01 9.61825213e-01 -3.20146787e-02 -6.06679684e+01] [-1.21947170e-01 -1.42204266e-03 9.92535574e-01 -2.11983566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:-60.68, Z:-21.20 [[ 9.54723000e-01 2.72812889e-01 1.18647040e-01 2.77832188e+02] [-2.70896844e-01 9.62066232e-01 -3.23027037e-02 -6.06752578e+01] [-1.22958905e-01 -1.30097457e-03 9.92410910e-01 -2.12035245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:-60.68, Z:-21.21 [[ 9.54848389e-01 2.72098677e-01 1.19276423e-01 2.77864137e+02] [-2.70153485e-01 9.62268617e-01 -3.24992767e-02 -6.06835510e+01] [-1.23618969e-01 -1.19105931e-03 9.92329044e-01 -2.12079032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:-60.69, Z:-21.21 [[ 9.55005049e-01 2.71072004e-01 1.20354992e-01 2.77894916e+02] [-2.69079880e-01 9.62558509e-01 -3.28197415e-02 -6.06916025e+01] [-1.24745235e-01 -1.04208805e-03 9.92188259e-01 -2.12120166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:-60.70, Z:-21.22 [[ 9.55260072e-01 2.69835192e-01 1.21108071e-01 2.77926167e+02] [-2.67806124e-01 9.62906127e-01 -3.30404284e-02 -6.07001710e+01] [-1.25531174e-01 -8.71281105e-04 9.92089293e-01 -2.12161306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:-60.71, Z:-21.22 [[ 9.55236908e-01 2.69920226e-01 1.21101284e-01 2.77958156e+02] [-2.67888688e-01 9.62882307e-01 -3.30652872e-02 -6.07090335e+01] [-1.25531273e-01 -8.56481336e-04 9.92089293e-01 -2.12206708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.99, Y:-60.72, Z:-21.23 [[ 9.55475809e-01 2.68929816e-01 1.21419657e-01 2.77988484e+02] [-2.66878264e-01 9.63159508e-01 -3.31625374e-02 -6.07179425e+01] [-1.25864892e-01 -7.18265070e-04 9.92047132e-01 -2.12252865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:-60.73, Z:-21.23 [[ 9.56021863e-01 2.66938408e-01 1.21515778e-01 2.78019879e+02] [-2.64864535e-01 9.63713494e-01 -3.32126370e-02 -6.07272239e+01] [-1.25972124e-01 -4.33212955e-04 9.92033687e-01 -2.12293631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:-60.74, Z:-21.23 [[ 9.56156169e-01 2.66178670e-01 1.22124102e-01 2.78050155e+02] [-2.64074315e-01 9.63923659e-01 -3.34056243e-02 -6.07358142e+01] [-1.26610176e-01 -3.08844760e-04 9.91952503e-01 -2.12338025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:-60.75, Z:-21.24 [[ 9.56175790e-01 2.64983998e-01 1.24544528e-01 2.78079917e+02] [-2.63255552e-01 9.64245783e-01 -3.04398471e-02 -6.07463412e+01] [-1.28157608e-01 -3.68119370e-03 9.91746982e-01 -2.12383880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.11, Y:-60.75, Z:-21.24 [[ 9.56757547e-01 2.63990113e-01 1.22164713e-01 2.78112865e+02] [-2.61420887e-01 9.64519524e-01 -3.68945512e-02 -6.07516522e+01] [-1.27570048e-01 3.36273264e-03 9.91823863e-01 -2.12432447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:-60.76, Z:-21.25 [[ 9.56989748e-01 2.62756370e-01 1.23002898e-01 2.78143968e+02] [-2.60586517e-01 9.64862193e-01 -3.36988940e-02 -6.07625709e+01] [-1.27535445e-01 1.96599178e-04 9.91833994e-01 -2.12477752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:-60.77, Z:-21.25 [[ 9.57270592e-01 2.61926630e-01 1.22586518e-01 2.78174409e+02] [-2.59761280e-01 9.65087732e-01 -3.36117140e-02 -6.07720825e+01] [-1.27110548e-01 3.32274399e-04 9.91888501e-01 -2.12520281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:-60.78, Z:-21.26 [[ 9.57901170e-01 2.60182718e-01 1.21368451e-01 2.78203521e+02] [-2.58043213e-01 9.65559223e-01 -3.33029525e-02 -6.07846593e+01] [-1.25853280e-01 5.82632087e-04 9.92048695e-01 -2.12573987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-60.80, Z:-21.26 [[ 9.57940020e-01 2.59304940e-01 1.22930327e-01 2.78233665e+02] [-2.57608739e-01 9.65790385e-01 -2.97770089e-02 -6.07976940e+01] [-1.26446253e-01 -3.14333786e-03 9.91968480e-01 -2.12620068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:-60.80, Z:-21.27 [[ 9.58049052e-01 2.60382660e-01 1.19761787e-01 2.78265431e+02] [-2.57798199e-01 9.65495276e-01 -3.68640735e-02 -6.08032549e+01] [-1.25228205e-01 4.44321766e-03 9.92118014e-01 -2.12663772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264000000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:278.30, Y:-60.82, Z:-21.27 [[ 9.57914671e-01 2.60791289e-01 1.19947437e-01 2.78296555e+02] [-2.58700731e-01 9.65395054e-01 -3.29593969e-02 -6.08160210e+01] [-1.24392186e-01 5.41800103e-04 9.92232982e-01 -2.12675173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85264 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:278.33, Y:-60.83, Z:-21.27 [[ 9.57452997e-01 2.61800608e-01 1.21425695e-01 2.78326214e+02] [-2.60106158e-01 9.65117415e-01 -2.98858070e-02 -6.08273631e+01] [-1.25014176e-01 -2.96931562e-03 9.92150512e-01 -2.12714949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.36, Y:-60.83, Z:-21.28 [[ 9.56266936e-01 2.67078211e-01 1.19259281e-01 2.78357539e+02] [-2.64620197e-01 9.63669733e-01 -3.62876867e-02 -6.08336105e+01] [-1.24618210e-01 3.14230058e-03 9.92199792e-01 -2.12755582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:-60.85, Z:-21.28 [[ 9.55287819e-01 2.68698693e-01 1.23394467e-01 2.78386709e+02] [-2.67086478e-01 9.63213549e-01 -2.97400863e-02 -6.08459109e+01] [-1.26846345e-01 -4.54665149e-03 9.91911958e-01 -2.12841927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:278.42, Y:-60.85, Z:-21.29 [[ 9.54570886e-01 2.73007304e-01 1.19421250e-01 2.78419205e+02] [-2.70484736e-01 9.62006729e-01 -3.71626398e-02 -6.08508726e+01] [-1.25029718e-01 3.17274858e-03 9.92147924e-01 -2.12864150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-60.86, Z:-21.29 [[ 9.53138258e-01 2.76696799e-01 1.22337004e-01 2.78449600e+02] [-2.74955791e-01 9.60949483e-01 -3.12314556e-02 -6.08631275e+01] [-1.26201324e-01 -3.86937244e-03 9.91997104e-01 -2.12927599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:-60.87, Z:-21.30 [[ 9.52418284e-01 2.80102983e-01 1.20173752e-01 2.78480009e+02] [-2.77801923e-01 9.59969666e-01 -3.58375789e-02 -6.08686316e+01] [-1.25401370e-01 7.47865883e-04 9.92105809e-01 -2.12969912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.51, Y:-60.88, Z:-21.30 [[ 9.51906080e-01 2.81864616e-01 1.20113084e-01 2.78510791e+02] [-2.79919943e-01 9.59451899e-01 -3.31191651e-02 -6.08785432e+01] [-1.24577847e-01 -2.09571290e-03 9.92207623e-01 -2.12995546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-60.89, Z:-21.31 [[ 9.50942662e-01 2.85222411e-01 1.19817486e-01 2.78542182e+02] [-2.83310884e-01 9.58458082e-01 -3.30612735e-02 -6.08862476e+01] [-1.24269854e-01 -2.50622230e-03 9.92245293e-01 -2.13061504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.57, Y:-60.89, Z:-21.31 [[ 9.50647137e-01 2.86460678e-01 1.19206965e-01 2.78574055e+02] [-2.84575263e-01 9.58088389e-01 -3.29174607e-02 -6.08947121e+01] [-1.23640368e-01 -2.63046378e-03 9.92323607e-01 -2.13083707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:-60.90, Z:-21.31 [[ 9.50324081e-01 2.87408563e-01 1.19500876e-01 2.78604955e+02] [-2.85518007e-01 9.57804174e-01 -3.30247246e-02 -6.09021962e+01] [-1.23950027e-01 -2.73546106e-03 9.92284691e-01 -2.13147071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:-60.91, Z:-21.32 [[ 9.50063324e-01 2.88295324e-01 1.19438211e-01 2.78636863e+02] [-2.86411884e-01 9.57537345e-01 -3.30222001e-02 -6.09106367e+01] [-1.23886693e-01 -2.83534180e-03 9.92292320e-01 -2.13184241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:-60.92, Z:-21.32 [[ 9.50026374e-01 2.88334986e-01 1.19636221e-01 2.78668111e+02] [-2.86442540e-01 9.57525443e-01 -3.31013264e-02 -6.09192869e+01] [-1.24098996e-01 -2.82176984e-03 9.92265830e-01 -2.13217031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:-60.93, Z:-21.33 [[ 9.49896935e-01 2.87026963e-01 1.23738982e-01 2.78696962e+02] [-2.85953311e-01 9.57870455e-01 -2.67375267e-02 -6.09305190e+01] [-1.26200307e-01 -9.98567706e-03 9.91954520e-01 -2.13263314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.73, Y:-60.93, Z:-21.33 [[ 9.50185926e-01 2.88558306e-01 1.17816852e-01 2.78730739e+02] [-2.85809179e-01 9.57452647e-01 -3.99692767e-02 -6.09299369e+01] [-1.24337523e-01 4.30510665e-03 9.92230642e-01 -2.13274840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.76, Y:-60.94, Z:-21.33 [[ 9.50341554e-01 2.87053171e-01 1.20214006e-01 2.78760573e+02] [-2.85125567e-01 9.57911075e-01 -3.33134032e-02 -6.09401482e+01] [-1.24717045e-01 -2.61697513e-03 9.92188898e-01 -2.13328830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.79, Y:-60.95, Z:-21.34 [[ 9.50474009e-01 2.86529790e-01 1.20415272e-01 2.78792192e+02] [-2.84588555e-01 9.58067993e-01 -3.33927448e-02 -6.09482140e+01] [-1.24934034e-01 -2.52987223e-03 9.92161825e-01 -2.13369883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.82, Y:-60.96, Z:-21.34 [[ 9.50615839e-01 2.86123960e-01 1.20260575e-01 2.78824623e+02] [-2.84181270e-01 9.58189482e-01 -3.33754697e-02 -6.09564265e+01] [-1.24781940e-01 -2.44855291e-03 9.92181169e-01 -2.13387707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:-60.96, Z:-21.35 [[ 9.50693362e-01 2.85801251e-01 1.20415015e-01 2.78855816e+02] [-2.83847686e-01 9.58285949e-01 -3.34444338e-02 -6.09630949e+01] [-1.24950478e-01 -2.38412205e-03 9.92160115e-01 -2.13450285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.89, Y:-60.97, Z:-21.35 [[ 9.50721269e-01 2.85942729e-01 1.19857515e-01 2.78887544e+02] [-2.84005410e-01 9.58243782e-01 -3.33133752e-02 -6.09709730e+01] [-1.24378436e-01 -2.36844829e-03 9.92232027e-01 -2.13494714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.92, Y:-60.98, Z:-21.35 [[ 9.50652820e-01 2.86413879e-01 1.19274082e-01 2.78918141e+02] [-2.84495923e-01 9.58103002e-01 -3.31769133e-02 -6.09783733e+01] [-1.23779184e-01 -2.39326378e-03 9.92306901e-01 -2.13525834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:-60.98, Z:-21.36 [[ 9.50322650e-01 2.87598210e-01 1.19055156e-01 2.78949770e+02] [-2.85693603e-01 9.57747837e-01 -3.31397796e-02 -6.09848578e+01] [-1.23555759e-01 -2.51981335e-03 9.92334432e-01 -2.13589209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.98, Y:-60.99, Z:-21.36 [[ 9.50054943e-01 2.88373152e-01 1.19316930e-01 2.78980677e+02] [-2.86463133e-01 9.57514570e-01 -3.32373585e-02 -6.09924167e+01] [-1.23832460e-01 -2.60258473e-03 9.92299727e-01 -2.13637406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:279.01, Y:-61.00, Z:-21.37 [[ 9.49958928e-01 2.88835424e-01 1.18962741e-01 2.79013329e+02] [-2.86937569e-01 9.57375143e-01 -3.31612204e-02 -6.10000646e+01] [-1.23470106e-01 -2.63308232e-03 9.92344799e-01 -2.13655601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-61.01, Z:-21.37 [[ 9.49726560e-01 2.89495062e-01 1.19214385e-01 2.79045034e+02] [-2.87591229e-01 9.57175697e-01 -3.32561288e-02 -6.10070926e+01] [-1.23736597e-01 -2.70078262e-03 9.92311423e-01 -2.13723258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57264000000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:279.08, Y:-61.01, Z:-21.37 [[ 9.49664182e-01 2.89483801e-01 1.19737511e-01 2.79076514e+02] [-2.87559936e-01 9.57179141e-01 -3.34271515e-02 -6.10120918e+01] [-1.24286867e-01 -2.68714256e-03 9.92242689e-01 -2.13744788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-61.02, Z:-21.38 [[ 9.49557774e-01 2.89821183e-01 1.19765250e-01 2.79106724e+02] [-2.87896191e-01 9.57076977e-01 -3.34580855e-02 -6.10194284e+01] [-1.24321426e-01 -2.70957417e-03 9.92238299e-01 -2.13811197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-61.03, Z:-21.39 [[ 9.49717283e-01 2.89708817e-01 1.18768196e-01 2.79138794e+02] [-2.87812229e-01 9.57111161e-01 -3.32016001e-02 -6.10275438e+01] [-1.23293162e-01 -2.65080582e-03 9.92366751e-01 -2.13856773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-61.03, Z:-21.39 [[ 9.50026740e-01 2.88991756e-01 1.18037951e-01 2.79169676e+02] [-2.87109882e-01 9.57328275e-01 -3.30225497e-02 -6.10342724e+01] [-1.22544313e-01 -2.51755686e-03 9.92459850e-01 -2.13902808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-61.04, Z:-21.40 [[ 9.50057802e-01 2.88570525e-01 1.18815929e-01 2.79200850e+02] [-2.86657442e-01 9.57455491e-01 -3.32640052e-02 -6.10410042e+01] [-1.23359975e-01 -2.45674271e-03 9.92358948e-01 -2.13951230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-61.05, Z:-21.40 [[ 9.50137997e-01 2.88140754e-01 1.19216999e-01 2.79232656e+02] [-2.86208401e-01 9.57585093e-01 -3.33997137e-02 -6.10479825e+01] [-1.23784240e-01 -2.38656972e-03 9.92306286e-01 -2.13985589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:-61.06, Z:-21.40 [[ 9.50180695e-01 2.87803662e-01 1.19690014e-01 2.79264551e+02] [-2.85850150e-01 9.57686604e-01 -3.35568321e-02 -6.10550265e+01] [-1.24283302e-01 -2.32835442e-03 9.92244042e-01 -2.14029640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-61.06, Z:-21.41 [[ 9.50629419e-01 2.86554772e-01 1.19122086e-01 2.79295134e+02] [-2.84606867e-01 9.58061494e-01 -3.34231244e-02 -6.10613811e+01] [-1.23703840e-01 -2.12995849e-03 9.92316897e-01 -2.14077696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-61.07, Z:-21.41 [[ 9.50882762e-01 2.85960144e-01 1.18527500e-01 2.79326183e+02] [-2.84025330e-01 9.58239366e-01 -3.32705595e-02 -6.10701710e+01] [-1.23091771e-01 -2.02841084e-03 9.92393219e-01 -2.14123865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84264 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:279.36, Y:-61.08, Z:-21.41 [[ 9.51204784e-01 2.85058301e-01 1.18115301e-01 2.79357324e+02] [-2.83126935e-01 9.58508335e-01 -3.31799727e-02 -6.10781300e+01] [-1.22672727e-01 -1.88067431e-03 9.92445397e-01 -2.14148037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:-61.09, Z:-21.42 [[ 9.51589611e-01 2.82896667e-01 1.20194375e-01 2.79387698e+02] [-2.81513608e-01 9.59128147e-01 -2.86929496e-02 -6.10871890e+01] [-1.23398948e-01 -6.53243943e-03 9.92335642e-01 -2.14218829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:-61.09, Z:-21.43 [[ 9.51838451e-01 2.83585800e-01 1.16544657e-01 2.79420544e+02] [-2.81039545e-01 9.58940518e-01 -3.80769800e-02 -6.10898963e+01] [-1.22557485e-01 3.48947618e-03 9.92455282e-01 -2.14260656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:-61.10, Z:-21.43 [[ 9.52210035e-01 2.81675073e-01 1.18132143e-01 2.79451081e+02] [-2.79708633e-01 9.59508861e-01 -3.32539626e-02 -6.11011217e+01] [-1.22715650e-01 -1.37782322e-03 9.92440916e-01 -2.14301642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.48, Y:-61.11, Z:-21.43 [[ 9.53225345e-01 2.78155035e-01 1.18284480e-01 2.79482108e+02] [-2.76153396e-01 9.60535769e-01 -3.33217334e-02 -6.11093460e+01] [-1.22885081e-01 -9.01539969e-04 9.92420498e-01 -2.14345994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:-61.12, Z:-21.44 [[ 9.53894645e-01 2.75813719e-01 1.18371444e-01 2.79513572e+02] [-2.73788306e-01 9.61210933e-01 -3.33692252e-02 -6.11193563e+01] [-1.22983616e-01 -5.77991893e-04 9.92408533e-01 -2.14390751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:279.54, Y:-61.13, Z:-21.44 [[ 9.54541719e-01 2.73304668e-01 1.18973383e-01 2.79544618e+02] [-2.71236009e-01 9.61927494e-01 -3.35637186e-02 -6.11301019e+01] [-1.23616889e-01 -2.31895943e-04 9.92329991e-01 -2.14419813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.57, Y:-61.14, Z:-21.45 [[ 9.55177144e-01 2.71305432e-01 1.18448243e-01 2.79574651e+02] [-2.69236697e-01 9.62493304e-01 -3.34401079e-02 -6.11407230e+01] [-1.23078124e-01 5.06129567e-05 9.92396983e-01 -2.14477635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:-61.15, Z:-21.45 [[ 9.55745399e-01 2.69377984e-01 1.18263406e-01 2.79605383e+02] [-2.67298221e-01 9.63034474e-01 -3.34105072e-02 -6.11510750e+01] [-1.22891792e-01 3.20340454e-04 9.92420024e-01 -2.14517548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:-61.16, Z:-21.46 [[ 9.56460649e-01 2.66545233e-01 1.18897709e-01 2.79635157e+02] [-2.64418130e-01 9.63822147e-01 -3.36142973e-02 -6.11620700e+01] [-1.23555976e-01 7.12042613e-04 9.92337349e-01 -2.14556434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.67, Y:-61.17, Z:-21.46 [[ 9.56618993e-01 2.65916486e-01 1.19031609e-01 2.79665478e+02] [-2.63776787e-01 9.63995723e-01 -3.36756895e-02 -6.11722675e+01] [-1.23700883e-01 8.17028883e-04 9.92319215e-01 -2.14600147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-61.18, Z:-21.46 [[ 9.56688656e-01 2.65720360e-01 1.18909651e-01 2.79696233e+02] [-2.63581794e-01 9.64049770e-01 -3.36552979e-02 -6.11829862e+01] [-1.23577720e-01 8.55222526e-04 9.92334528e-01 -2.14646032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264000000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.73, Y:-61.19, Z:-21.47 [[ 9.56720824e-01 2.65747415e-01 1.18589953e-01 2.79727016e+02] [-2.63617643e-01 9.64042297e-01 -3.35885174e-02 -6.11938490e+01] [-1.23251792e-01 8.72430265e-04 9.92375047e-01 -2.14680750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:-61.21, Z:-21.47 [[ 9.56465341e-01 2.67021681e-01 1.17785709e-01 2.79756807e+02] [-2.64927558e-01 9.63690248e-01 -3.33840452e-02 -6.12068802e+01] [-1.22423203e-01 7.26001947e-04 9.92477724e-01 -2.14736702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264000000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.79, Y:-61.22, Z:-21.48 [[ 9.56248356e-01 2.67751616e-01 1.17890434e-01 2.79788362e+02] [-2.65656301e-01 9.63487748e-01 -3.34378350e-02 -6.12175391e+01] [-1.22539023e-01 6.56538100e-04 9.92463479e-01 -2.14773073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:-61.23, Z:-21.48 [[ 9.55954027e-01 2.68990798e-01 1.17455729e-01 2.79818376e+02] [-2.66917257e-01 9.63142606e-01 -3.33391351e-02 -6.12284040e+01] [-1.22094537e-01 5.19719657e-04 9.92518339e-01 -2.14826461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:-61.24, Z:-21.49 [[ 9.55238419e-01 2.71485384e-01 1.17538285e-01 2.79848598e+02] [-2.69424913e-01 9.62442537e-01 -3.33853219e-02 -6.12412129e+01] [-1.22187472e-01 2.23199847e-04 9.92507013e-01 -2.14865159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:-61.25, Z:-21.49 [[ 9.54672808e-01 2.73335470e-01 1.17845450e-01 2.79878935e+02] [-2.71275063e-01 9.61918770e-01 -3.34980528e-02 -6.12518472e+01] [-1.22513957e-01 1.11481857e-05 9.92466791e-01 -2.14906235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:-61.26, Z:-21.50 [[ 9.54650091e-01 2.73416589e-01 1.17841307e-01 2.79910825e+02] [-2.71354999e-01 9.61895716e-01 -3.35126221e-02 -6.12610557e+01] [-1.22513955e-01 1.60000176e-05 9.92466791e-01 -2.14951771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.94, Y:-61.27, Z:-21.50 [[ 9.53990305e-01 2.75611595e-01 1.18070940e-01 2.79942111e+02] [-2.73557535e-01 9.61269048e-01 -3.35870877e-02 -6.12722996e+01] [-1.22754931e-01 -2.57439234e-04 9.92436981e-01 -2.14994725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.97, Y:-61.28, Z:-21.50 [[ 9.53305555e-01 2.78046710e-01 1.17892092e-01 2.79972660e+02] [-2.76014342e-01 9.60567400e-01 -3.35611900e-02 -6.12831253e+01] [-1.22574879e-01 -5.45839470e-04 9.92459118e-01 -2.15033850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-61.30, Z:-21.51 [[ 9.51634906e-01 2.83538715e-01 1.18308085e-01 2.80002362e+02] [-2.81530849e-01 9.58959999e-01 -3.37060949e-02 -6.12953510e+01] [-1.23009704e-01 -1.23147897e-03 9.92404704e-01 -2.15081726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:-61.31, Z:-21.51 [[ 9.50821415e-01 2.86274218e-01 1.18261190e-01 2.80032996e+02] [-2.84287141e-01 9.58146444e-01 -3.37077751e-02 -6.13057630e+01] [-1.22961206e-01 -1.57006130e-03 9.92410236e-01 -2.15125826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.06, Y:-61.32, Z:-21.52 [[ 9.49988072e-01 2.89079816e-01 1.18133501e-01 2.80063359e+02] [-2.87115819e-01 9.57303095e-01 -3.36940759e-02 -6.13161141e+01] [-1.22829843e-01 -1.90902652e-03 9.92425909e-01 -2.15170629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:-61.33, Z:-21.52 [[ 9.49201557e-01 2.91630019e-01 1.18187712e-01 2.80094155e+02] [-2.89681306e-01 9.56528622e-01 -3.37303543e-02 -6.13261862e+01] [-1.22886713e-01 -2.21986602e-03 9.92418222e-01 -2.15215498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:-61.34, Z:-21.53 [[ 9.47907671e-01 2.95958578e-01 1.17811576e-01 2.80124725e+02] [-2.94052529e-01 9.55196821e-01 -3.36473281e-02 -6.13360068e+01] [-1.22491458e-01 -2.74823138e-03 9.92465763e-01 -2.15255060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.16, Y:-61.34, Z:-21.53 [[ 9.47373653e-01 2.97676146e-01 1.17779768e-01 2.80156461e+02] [-2.95782666e-01 9.54662334e-01 -3.36517837e-02 -6.13448619e+01] [-1.22457241e-01 -2.95640039e-03 9.92469387e-01 -2.15297367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-61.35, Z:-21.53 [[ 9.46822064e-01 2.99539683e-01 1.17490241e-01 2.80187129e+02] [-2.97666793e-01 9.54078590e-01 -3.35935211e-02 -6.13532397e+01] [-1.22157517e-01 -3.16585639e-03 9.92505677e-01 -2.15341620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:-61.37, Z:-21.54 [[ 9.46076627e-01 3.00229373e-01 1.21660755e-01 2.80216289e+02] [-2.99171710e-01 9.53808530e-01 -2.73052271e-02 -6.13652691e+01] [-1.24238897e-01 -1.05646189e-02 9.92196092e-01 -2.15388488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-61.36, Z:-21.54 [[ 9.45104394e-01 3.05644929e-01 1.15580545e-01 2.80249068e+02] [-3.02935748e-01 9.52139114e-01 -4.07558662e-02 -6.13646199e+01] [-1.22505582e-01 3.50506931e-03 9.92461635e-01 -2.15431477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-61.38, Z:-21.55 [[ 9.44722516e-01 3.06323068e-01 1.16899728e-01 2.80279772e+02] [-3.04514371e-01 9.51919322e-01 -3.34753931e-02 -6.13769707e+01] [-1.21533395e-01 -3.97268967e-03 9.92579393e-01 -2.15470509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-61.38, Z:-21.55 [[ 9.44235696e-01 3.07829183e-01 1.16876624e-01 2.80311333e+02] [-3.06029761e-01 9.51432620e-01 -3.34925964e-02 -6.13844395e+01] [-1.21510231e-01 -4.14282017e-03 9.92581534e-01 -2.15515866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-61.39, Z:-21.56 [[ 9.43473155e-01 3.09972104e-01 1.17369928e-01 2.80344541e+02] [-3.08170977e-01 9.50735402e-01 -3.36577629e-02 -6.13887350e+01] [-1.22020713e-01 -4.41480948e-03 9.92517735e-01 -2.15563498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.38, Y:-61.39, Z:-21.56 [[ 9.43134052e-01 3.10736371e-01 1.18072303e-01 2.80375726e+02] [-3.08916258e-01 9.50485410e-01 -3.38855532e-02 -6.13948800e+01] [-1.22755475e-01 -4.51583487e-03 9.92426673e-01 -2.15607602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:-61.40, Z:-21.57 [[ 9.42947308e-01 3.11235199e-01 1.18249846e-01 2.80407993e+02] [-3.09411646e-01 9.50321911e-01 -3.39514209e-02 -6.14012408e+01] [-1.22942296e-01 -4.57347851e-03 9.92403282e-01 -2.15650880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:-61.40, Z:-21.57 [[ 9.43095631e-01 3.11264273e-01 1.16983684e-01 2.80441005e+02] [-3.09477090e-01 9.50312712e-01 -3.36107036e-02 -6.14046186e+01] [-1.21632893e-01 -4.50566229e-03 9.92564929e-01 -2.15702458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:-61.41, Z:-21.57 [[ 9.43396053e-01 3.10445388e-01 1.16737087e-01 2.80472526e+02] [-3.08656309e-01 9.50581192e-01 -3.35660545e-02 -6.14107083e+01] [-1.21388506e-01 -4.36555500e-03 9.92595473e-01 -2.15748442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:-61.42, Z:-21.58 [[ 9.43811549e-01 3.09028717e-01 1.17136725e-01 2.80504645e+02] [-3.07214653e-01 9.51043506e-01 -3.36958087e-02 -6.14173686e+01] [-1.21815094e-01 -4.18362492e-03 9.92543994e-01 -2.15796434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:-61.42, Z:-21.58 [[ 9.44456341e-01 3.07055276e-01 1.17129322e-01 2.80536247e+02] [-3.05223451e-01 9.51683665e-01 -3.37171506e-02 -6.14242355e+01] [-1.21823091e-01 -3.90623919e-03 9.92544143e-01 -2.15843488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:-61.43, Z:-21.59 [[ 9.46299657e-01 3.00975129e-01 1.18029365e-01 2.80567546e+02] [-2.99064607e-01 9.53626878e-01 -3.40020271e-02 -6.14295166e+01] [-1.22789739e-01 -3.12229890e-03 9.92427796e-01 -2.15894442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:-61.44, Z:-21.59 [[ 9.47399838e-01 2.97251572e-01 1.18638316e-01 2.80599095e+02] [-2.95289146e-01 9.54795572e-01 -3.42013919e-02 -6.14371361e+01] [-1.23441756e-01 -2.63021374e-03 9.92348333e-01 -2.15938156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:-61.45, Z:-21.60 [[ 9.48605616e-01 2.93354587e-01 1.18703289e-01 2.80631154e+02] [-2.91356509e-01 9.56001400e-01 -3.42448317e-02 -6.14451419e+01] [-1.23526389e-01 -2.10013634e-03 9.92339065e-01 -2.15980266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:-61.45, Z:-21.60 [[ 9.49818773e-01 2.89354098e-01 1.18821310e-01 2.80662078e+02] [-2.87317607e-01 9.57220865e-01 -3.43046484e-02 -6.14531807e+01] [-1.23664428e-01 -1.55625536e-03 9.92322875e-01 -2.16028171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.69, Y:-61.46, Z:-21.61 [[ 9.52028378e-01 2.81948498e-01 1.18941215e-01 2.80693880e+02] [-2.79847213e-01 9.59429371e-01 -3.43630456e-02 -6.14604768e+01] [-1.23804304e-01 -5.70772983e-04 9.92306489e-01 -2.16074824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.72, Y:-61.47, Z:-21.61 [[ 9.52885293e-01 2.78910044e-01 1.19242633e-01 2.80724100e+02] [-2.76771118e-01 9.60317221e-01 -3.44758461e-02 -6.14686090e+01] [-1.24126414e-01 -1.51390009e-04 9.92266401e-01 -2.16114844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.76, Y:-61.48, Z:-21.62 [[ 9.53628379e-01 2.76677558e-01 1.18500816e-01 2.80755257e+02] [-2.74545179e-01 9.60962800e-01 -3.42847106e-02 -6.14781228e+01] [-1.23360686e-01 1.61045148e-04 9.92361887e-01 -2.16171998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:-61.49, Z:-21.62 [[ 9.54709120e-01 2.73003168e-01 1.18320610e-01 2.80786218e+02] [-2.70845994e-01 9.62012908e-01 -3.42580330e-02 -6.14870036e+01] [-1.23178506e-01 6.59793319e-04 9.92384311e-01 -2.16217092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:-61.50, Z:-21.63 [[ 9.54953691e-01 2.72166203e-01 1.18275126e-01 2.80816420e+02] [-2.70001128e-01 9.62249931e-01 -3.42703967e-02 -6.14958969e+01] [-1.23137476e-01 7.92224357e-04 9.92389306e-01 -2.16263087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.85, Y:-61.51, Z:-21.63 [[ 9.55039978e-01 2.71884819e-01 1.18225572e-01 2.80846562e+02] [-2.69716472e-01 9.62329424e-01 -3.42797922e-02 -6.15052798e+01] [-1.23092102e-01 8.51187723e-04 9.92394886e-01 -2.16308612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31264 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:280.88, Y:-61.52, Z:-21.63 [[ 9.54876236e-01 2.72161200e-01 1.18910283e-01 2.80878189e+02] [-2.69966868e-01 9.62251304e-01 -3.45009958e-02 -6.15155606e+01] [-1.23811407e-01 8.42344409e-04 9.92305410e-01 -2.16347034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-61.53, Z:-21.64 [[ 9.54293160e-01 2.73908365e-01 1.19577475e-01 2.80908106e+02] [-2.71915569e-01 9.61755246e-01 -3.29965058e-02 -6.15264201e+01] [-1.24042283e-01 -1.02663739e-03 9.92276402e-01 -2.16394705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:-61.53, Z:-21.64 [[ 9.53821063e-01 2.76058689e-01 1.18393325e-01 2.80938754e+02] [-2.73682621e-01 9.61138420e-01 -3.62044390e-02 -6.15336504e+01] [-1.23786923e-01 2.13036103e-03 9.92306535e-01 -2.16433746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:-61.54, Z:-21.65 [[ 9.53322874e-01 2.77605685e-01 1.18787967e-01 2.80968794e+02] [-2.75450941e-01 9.60695086e-01 -3.45214665e-02 -6.15439413e+01] [-1.23702371e-01 1.89846535e-04 9.92319347e-01 -2.16482025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:-61.55, Z:-21.65 [[ 9.52835300e-01 2.79367830e-01 1.18568575e-01 2.80998955e+02] [-2.77231681e-01 9.60184157e-01 -3.44815861e-02 -6.15534859e+01] [-1.23480713e-01 -1.56929893e-05 9.92346972e-01 -2.16526356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:-61.56, Z:-21.66 [[ 9.51690357e-01 2.82982913e-01 1.19189496e-01 2.81028269e+02] [-2.80849457e-01 9.59124839e-01 -3.46861130e-02 -6.15645153e+01] [-1.24133183e-01 -4.63865922e-04 9.92265457e-01 -2.16574401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:-61.57, Z:-21.66 [[ 9.51049712e-01 2.84971360e-01 1.19564914e-01 2.81058660e+02] [-2.82837114e-01 9.58535774e-01 -3.48186366e-02 -6.15742792e+01] [-1.24529562e-01 -7.03140911e-04 9.92215649e-01 -2.16615605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52264 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:281.09, Y:-61.58, Z:-21.67 [[ 9.50275266e-01 2.87027904e-01 1.20796938e-01 2.81089880e+02] [-2.84862863e-01 9.57921740e-01 -3.52006956e-02 -6.15838405e+01] [-1.25817595e-01 -9.60211248e-04 9.92052927e-01 -2.16655338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.12, Y:-61.59, Z:-21.67 [[ 9.49553801e-01 2.89534777e-01 1.20487308e-01 2.81121446e+02] [-2.87397691e-01 9.57166660e-01 -3.51361938e-02 -6.15938882e+01] [-1.25499584e-01 -1.26406770e-03 9.92092867e-01 -2.16702859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.15, Y:-61.60, Z:-21.67 [[ 9.48204766e-01 2.93745791e-01 1.20917869e-01 2.81152933e+02] [-2.91624107e-01 9.55881876e-01 -3.52876691e-02 -6.16044505e+01] [-1.25948804e-01 -1.80262953e-03 9.92035105e-01 -2.16747993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.18, Y:-61.61, Z:-21.68 [[ 9.47471864e-01 2.96008535e-01 1.21144597e-01 2.81183306e+02] [-2.93893923e-01 9.55183026e-01 -3.53800762e-02 -6.16137621e+01] [-1.26188067e-01 -2.08203412e-03 9.92004152e-01 -2.16788445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:-61.62, Z:-21.68 [[ 9.46688422e-01 2.98394103e-01 1.21416604e-01 2.81213225e+02] [-2.96286344e-01 9.54439776e-01 -3.54840239e-02 -6.16229039e+01] [-1.26473059e-01 -2.38176703e-03 9.91967183e-01 -2.16830692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:-61.63, Z:-21.69 [[ 9.45913586e-01 3.00781064e-01 1.21565781e-01 2.81245080e+02] [-2.98684714e-01 9.53689447e-01 -3.55510984e-02 -6.16323808e+01] [-1.26629099e-01 -2.68157352e-03 9.91946511e-01 -2.16873416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:-61.64, Z:-21.69 [[ 9.44450115e-01 3.05431544e-01 1.21348888e-01 2.81276472e+02] [-3.03377671e-01 9.52208406e-01 -3.55125492e-02 -6.16415899e+01] [-1.26396084e-01 -3.27471185e-03 9.91974448e-01 -2.16920440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.31, Y:-61.65, Z:-21.70 [[ 9.43678600e-01 3.07776065e-01 1.21427318e-01 2.81308362e+02] [-3.05735650e-01 9.51452137e-01 -3.55604070e-02 -6.16500816e+01] [-1.26476924e-01 -3.56706496e-03 9.91963136e-01 -2.16964772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:-61.66, Z:-21.70 [[ 9.42977173e-01 3.10193292e-01 1.20723541e-01 2.81339081e+02] [-3.08192960e-01 9.50665740e-01 -3.53800848e-02 -6.16573802e+01] [-1.25742399e-01 -3.84353306e-03 9.92055480e-01 -2.17012389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.37, Y:-61.66, Z:-21.71 [[ 9.42173280e-01 3.12504667e-01 1.21038602e-01 2.81370925e+02] [-3.10510901e-01 9.49907166e-01 -3.54874247e-02 -6.16648524e+01] [-1.26065421e-01 -4.14850191e-03 9.92013256e-01 -2.17060093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.40, Y:-61.67, Z:-21.71 [[ 9.40812065e-01 3.16037929e-01 1.22444624e-01 2.81401147e+02] [-3.14023668e-01 9.48735160e-01 -3.59267648e-02 -6.16699794e+01] [-1.27521740e-01 -4.65017604e-03 9.91824875e-01 -2.17099309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.43, Y:-61.68, Z:-21.71 [[ 9.40338619e-01 3.17444883e-01 1.22441938e-01 2.81431072e+02] [-3.15442350e-01 9.48264377e-01 -3.59276451e-02 -6.16767659e+01] [-1.27512375e-01 -4.83922052e-03 9.91825174e-01 -2.17143443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:-61.68, Z:-21.72 [[ 9.39904374e-01 3.18621188e-01 1.22720437e-01 2.81463368e+02] [-3.16619682e-01 9.47868883e-01 -3.60077398e-02 -6.16837829e+01] [-1.27795713e-01 -5.01187367e-03 9.91787849e-01 -2.17187865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.49, Y:-61.69, Z:-21.72 [[ 9.39609542e-01 3.19290573e-01 1.23237323e-01 2.81493793e+02] [-3.17274397e-01 9.47643143e-01 -3.61860470e-02 -6.16903232e+01] [-1.28338867e-01 -5.09929212e-03 9.91717264e-01 -2.17224985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:-61.69, Z:-21.73 [[ 9.39742527e-01 3.19503692e-01 1.21660900e-01 2.81521382e+02] [-3.17537778e-01 9.47571628e-01 -3.57459097e-02 -6.16927603e+01] [-1.26703367e-01 -5.03998032e-03 9.91927848e-01 -2.17277816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:-61.70, Z:-21.73 [[ 9.40048202e-01 3.18626841e-01 1.21598987e-01 2.81551688e+02] [-3.16656680e-01 9.47867428e-01 -3.57195548e-02 -6.16981616e+01] [-1.26640928e-01 -4.92702834e-03 9.91936389e-01 -2.17321030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:-61.70, Z:-21.74 [[ 9.40411999e-01 3.17337460e-01 1.22156490e-01 2.81580242e+02] [-3.15338307e-01 9.48300655e-01 -3.58834273e-02 -6.17029630e+01] [-1.27228235e-01 -4.77541509e-03 9.91861972e-01 -2.17361423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:-61.71, Z:-21.74 [[ 9.40844492e-01 3.15934899e-01 1.22461351e-01 2.81608259e+02] [-3.13914086e-01 9.48769725e-01 -3.59715799e-02 -6.17081202e+01] [-1.27552300e-01 -4.59868021e-03 9.91821185e-01 -2.17396430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-61.71, Z:-21.74 [[ 9.41938232e-01 3.12275849e-01 1.23434847e-01 2.81639293e+02] [-3.10192085e-01 9.49982445e-01 -3.62522426e-02 -6.17112749e+01] [-1.28581638e-01 -4.14113931e-03 9.91690281e-01 -2.17438616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:-61.72, Z:-21.75 [[ 9.42632474e-01 3.10397170e-01 1.22872357e-01 2.81668956e+02] [-3.08316092e-01 9.50599111e-01 -3.60904081e-02 -6.17172005e+01] [-1.28004714e-01 -3.86353428e-03 9.91766034e-01 -2.17475906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:-61.72, Z:-21.75 [[ 9.43217777e-01 3.08251803e-01 1.23778236e-01 2.81698391e+02] [-3.06121209e-01 9.51298000e-01 -3.63582271e-02 -6.17234429e+01] [-1.28957477e-01 -3.59741713e-03 9.91643599e-01 -2.17520630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:-61.73, Z:-21.76 [[ 9.44616212e-01 3.03845047e-01 1.24009678e-01 2.81727999e+02] [-3.01668621e-01 9.52716737e-01 -3.64261259e-02 -6.17283499e+01] [-1.29213993e-01 -3.00111936e-03 9.91612191e-01 -2.17565590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:-61.73, Z:-21.76 [[ 9.45175907e-01 3.02150911e-01 1.23884350e-01 2.81756075e+02] [-2.99964157e-01 9.53256095e-01 -3.63912223e-02 -6.17344286e+01] [-1.29089153e-01 -2.76475805e-03 9.91629138e-01 -2.17605546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:-61.74, Z:-21.76 [[ 9.45689138e-01 3.00681326e-01 1.23542683e-01 2.81784503e+02] [-2.98494595e-01 9.53721231e-01 -3.62876048e-02 -6.17399049e+01] [-1.28736285e-01 -2.56002945e-03 9.91675559e-01 -2.17641754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.81, Y:-61.74, Z:-21.77 [[ 9.46097983e-01 2.98876475e-01 1.24785656e-01 2.81812049e+02] [-2.96630561e-01 9.54288928e-01 -3.66463169e-02 -6.17421899e+01] [-1.30034291e-01 -2.34423260e-03 9.91506726e-01 -2.17681294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:-61.75, Z:-21.77 [[ 9.46252896e-01 2.98464902e-01 1.24595986e-01 2.81841253e+02] [-2.96223346e-01 9.54417859e-01 -3.65825091e-02 -6.17478707e+01] [-1.29835229e-01 -2.29193480e-03 9.91532935e-01 -2.17722380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:-61.76, Z:-21.78 [[ 9.46256507e-01 2.98453071e-01 1.24596898e-01 2.81869939e+02] [-2.96211822e-01 9.54421555e-01 -3.65794050e-02 -6.17562538e+01] [-1.29835200e-01 -2.29357399e-03 9.91532935e-01 -2.17763360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:-61.76, Z:-21.78 [[ 9.46312931e-01 2.98531280e-01 1.23979483e-01 2.81897785e+02] [-2.96313128e-01 9.54397093e-01 -3.63966798e-02 -6.17619131e+01] [-1.29191205e-01 -2.29409960e-03 9.91617048e-01 -2.17805325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:281.93, Y:-61.77, Z:-21.78 [[ 9.46475539e-01 2.98551633e-01 1.22682421e-01 2.81928863e+02] [-2.96380670e-01 9.54390766e-01 -3.60106000e-02 -6.17681551e+01] [-1.27837994e-01 -2.27754620e-03 9.91792448e-01 -2.17838941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:-61.77, Z:-21.79 [[ 9.46448474e-01 2.99141349e-01 1.21448505e-01 2.81957948e+02] [-2.97018351e-01 9.54205967e-01 -3.56521037e-02 -6.17709869e+01] [-1.26551906e-01 -2.32955544e-03 9.91957251e-01 -2.17907378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:-61.78, Z:-21.79 [[ 9.46419801e-01 2.99394677e-01 1.21047049e-01 2.81984688e+02] [-2.97287951e-01 9.54126445e-01 -3.55330867e-02 -6.17760731e+01] [-1.26132608e-01 -2.35661254e-03 9.92010590e-01 -2.17949307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:-61.78, Z:-21.80 [[ 9.46390437e-01 2.99487270e-01 1.21047576e-01 2.82012777e+02] [-2.97382330e-01 9.54097335e-01 -3.55249872e-02 -6.17810148e+01] [-1.26130451e-01 -2.37690205e-03 9.92010816e-01 -2.17989552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:-61.79, Z:-21.80 [[ 9.46441102e-01 2.99435533e-01 1.20779145e-01 2.82039924e+02] [-2.97236858e-01 9.54115215e-01 -3.62547544e-02 -6.17850596e+01] [-1.26093182e-01 -1.58702398e-03 9.92017132e-01 -2.18019909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:-61.79, Z:-21.81 [[ 9.46651741e-01 2.98260035e-01 1.22030457e-01 2.82066694e+02] [-2.96217143e-01 9.54479834e-01 -3.49807351e-02 -6.17891844e+01] [-1.26908965e-01 -3.03293934e-03 9.91909732e-01 -2.18055729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.09, Y:-61.80, Z:-21.81 [[ 9.47019687e-01 2.97370142e-01 1.21345425e-01 2.82094134e+02] [-2.95240342e-01 9.54759916e-01 -3.55899290e-02 -6.17955358e+01] [-1.26439130e-01 -2.12170133e-03 9.91972099e-01 -2.18087672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:-61.80, Z:-21.81 [[ 9.47726258e-01 2.95024934e-01 1.21553398e-01 2.82121880e+02] [-2.92869561e-01 9.55487822e-01 -3.56432505e-02 -6.17998222e+01] [-1.26658439e-01 -1.81924598e-03 9.91944721e-01 -2.18131900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.15, Y:-61.81, Z:-21.82 [[ 9.48078513e-01 2.93985192e-01 1.21325353e-01 2.82150153e+02] [-2.91830685e-01 9.55808487e-01 -3.55666735e-02 -6.18052230e+01] [-1.26419877e-01 -1.68646190e-03 9.91975388e-01 -2.18159957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:-61.81, Z:-21.82 [[ 9.48398708e-01 2.92779606e-01 1.21737398e-01 2.82178246e+02] [-2.90601337e-01 9.56178717e-01 -3.56808641e-02 -6.18102053e+01] [-1.26849339e-01 -1.53736527e-03 9.91920804e-01 -2.18212100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:-61.82, Z:-21.82 [[ 9.48595538e-01 2.92080255e-01 1.21883673e-01 2.82206448e+02] [-2.89891821e-01 9.56392710e-01 -3.57171608e-02 -6.18154426e+01] [-1.27000934e-01 -1.45194054e-03 9.91901535e-01 -2.18249405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.23, Y:-61.82, Z:-21.83 [[ 9.48794288e-01 2.91517302e-01 1.21684274e-01 2.82234466e+02] [-2.89332272e-01 9.56564560e-01 -3.56522019e-02 -6.18203284e+01] [-1.26792098e-01 -1.38058199e-03 9.91928353e-01 -2.18283360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:-61.82, Z:-21.83 [[ 9.48880433e-01 2.91009891e-01 1.22225889e-01 2.82262694e+02] [-2.88801957e-01 9.56719127e-01 -3.58042278e-02 -6.18233826e+01] [-1.27355230e-01 -1.32514459e-03 9.91856285e-01 -2.18331175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-61.83, Z:-21.84 [[ 9.48909147e-01 2.91044562e-01 1.21920026e-01 2.82290224e+02] [-2.88848814e-01 9.56708570e-01 -3.57082032e-02 -6.18285411e+01] [-1.27034612e-01 -1.33261432e-03 9.91897390e-01 -2.18363781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:-61.83, Z:-21.84 [[ 9.48929585e-01 2.91028637e-01 1.21798912e-01 2.82317851e+02] [-2.88838159e-01 9.56713408e-01 -3.56647261e-02 -6.18335443e+01] [-1.26906109e-01 -1.33685991e-03 9.91913833e-01 -2.18403990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:-61.84, Z:-21.84 [[ 9.49022521e-01 2.91027918e-01 1.21074379e-01 2.82345994e+02] [-2.88864728e-01 9.56713625e-01 -3.54430224e-02 -6.18362776e+01] [-1.26148417e-01 -1.33789109e-03 9.92010477e-01 -2.18443713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:-61.84, Z:-21.85 [[ 9.49001738e-01 2.90879182e-01 1.21593600e-01 2.82372015e+02] [-2.88697351e-01 9.56758864e-01 -3.55853261e-02 -6.18412405e+01] [-1.26686785e-01 -1.33321392e-03 9.91941874e-01 -2.18479133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-61.85, Z:-21.85 [[ 9.48996709e-01 2.90669452e-01 1.22133187e-01 2.82399251e+02] [-2.88467892e-01 9.56822617e-01 -3.57316956e-02 -6.18467773e+01] [-1.27245908e-01 -1.32224157e-03 9.91870319e-01 -2.18510615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.43, Y:-61.85, Z:-21.85 [[ 9.49238290e-01 2.89996458e-01 1.21855337e-01 2.82425585e+02] [-2.87800635e-01 9.57026917e-01 -3.56409018e-02 -6.18517495e+01] [-1.26954573e-01 -1.23833469e-03 9.91907759e-01 -2.18534839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.45, Y:-61.86, Z:-21.86 [[ 9.49693973e-01 2.88001086e-01 1.23031429e-01 2.82452830e+02] [-2.85747310e-01 9.57629568e-01 -3.59733926e-02 -6.18553623e+01] [-1.28178910e-01 -9.92185660e-04 9.91750565e-01 -2.18585471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.48, Y:-61.86, Z:-21.86 [[ 9.50144539e-01 2.86503275e-01 1.23049702e-01 2.82480164e+02] [-2.84237586e-01 9.58078929e-01 -3.59688850e-02 -6.18614593e+01] [-1.28196530e-01 -7.99710609e-04 9.91748461e-01 -2.18621589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:-61.87, Z:-21.87 [[ 9.50671778e-01 2.84922007e-01 1.22648364e-01 2.82505922e+02] [-2.82659267e-01 9.58550519e-01 -3.58419005e-02 -6.18672800e+01] [-1.27776800e-01 -5.93813437e-04 9.91802771e-01 -2.18660520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:-61.87, Z:-21.87 [[ 9.51266978e-01 2.83152271e-01 1.22130785e-01 2.82532746e+02] [-2.80895580e-01 9.59074897e-01 -3.56793366e-02 -6.18736238e+01] [-1.27235255e-01 -3.65423087e-04 9.91872500e-01 -2.18698688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.56, Y:-61.88, Z:-21.87 [[ 9.52093375e-01 2.80424801e-01 1.21984162e-01 2.82561209e+02] [-2.78152489e-01 9.59875998e-01 -3.56267029e-02 -6.18794474e+01] [-1.27080280e-01 -1.02505654e-05 9.91892435e-01 -2.18741660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-61.89, Z:-21.88 [[ 9.52332693e-01 2.79744637e-01 1.21677359e-01 2.82587632e+02] [-2.77479089e-01 9.60074441e-01 -3.55305891e-02 -6.18865496e+01] [-1.26758814e-01 7.40189299e-05 9.91933565e-01 -2.18779271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:-61.89, Z:-21.88 [[ 9.52536705e-01 2.79222655e-01 1.21278744e-01 2.82615474e+02] [-2.76968829e-01 9.60226375e-01 -3.54058856e-02 -6.18941748e+01] [-1.26341175e-01 1.34973791e-04 9.91986839e-01 -2.18824221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.64, Y:-61.90, Z:-21.89 [[ 9.52670085e-01 2.79103899e-01 1.20501964e-01 2.82642085e+02] [-2.76878823e-01 9.60260898e-01 -3.51727803e-02 -6.19012205e+01] [-1.25530184e-01 1.43613691e-04 9.92089790e-01 -2.18854839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:-61.91, Z:-21.89 [[ 9.52543931e-01 2.79534450e-01 1.20501247e-01 2.82668615e+02] [-2.77313860e-01 9.60135660e-01 -3.51644445e-02 -6.19078075e+01] [-1.25527218e-01 7.90123152e-05 9.92090173e-01 -2.18900405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:-61.91, Z:-21.89 [[ 9.52053398e-01 2.81360436e-01 1.20127568e-01 2.82695435e+02] [-2.79169100e-01 9.59602145e-01 -3.50476366e-02 -6.19130856e+01] [-1.25135690e-01 -1.68683654e-04 9.92139623e-01 -2.18938396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:-61.92, Z:-21.90 [[ 9.51802310e-01 2.82230898e-01 1.20075322e-01 2.82721809e+02] [-2.80049568e-01 9.59346462e-01 -3.50229109e-02 -6.19202686e+01] [-1.25078383e-01 -2.92154540e-04 9.92146820e-01 -2.18978625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-61.93, Z:-21.90 [[ 9.51529195e-01 2.83095955e-01 1.20203456e-01 2.82747818e+02] [-2.80917991e-01 9.59091501e-01 -3.50510304e-02 -6.19271507e+01] [-1.25208918e-01 -4.15234648e-04 9.92130311e-01 -2.19011159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-61.93, Z:-21.90 [[ 9.51116018e-01 2.84245755e-01 1.20758733e-01 2.82774880e+02] [-2.82058620e-01 9.58751277e-01 -3.51983591e-02 -6.19314884e+01] [-1.25782574e-01 -5.83318561e-04 9.92057662e-01 -2.19042992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:-61.94, Z:-21.91 [[ 9.51010052e-01 2.84666896e-01 1.20601156e-01 2.82800971e+02] [-2.82490269e-01 9.58626276e-01 -3.51413019e-02 -6.19380615e+01] [-1.25615003e-01 -6.48921666e-04 9.92078853e-01 -2.19082600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-61.95, Z:-21.91 [[ 9.51076260e-01 2.84619455e-01 1.20190318e-01 2.82827642e+02] [-2.82458702e-01 9.58640361e-01 -3.50105658e-02 -6.19450324e+01] [-1.25183978e-01 -6.51083271e-04 9.92133332e-01 -2.19125576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:-61.95, Z:-21.92 [[ 9.51135254e-01 2.84434052e-01 1.20162384e-01 2.82853349e+02] [-2.82274047e-01 9.58695398e-01 -3.49928048e-02 -6.19518388e+01] [-1.25152270e-01 -6.35832148e-04 9.92137342e-01 -2.19162487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:-61.96, Z:-21.92 [[ 9.51490400e-01 2.83101336e-01 1.20497520e-01 2.82878900e+02] [-2.80920020e-01 9.59089886e-01 -3.50789519e-02 -6.19581438e+01] [-1.25498851e-01 -4.72879704e-04 9.92093652e-01 -2.19202485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:-61.97, Z:-21.92 [[ 9.51769261e-01 2.82093333e-01 1.20659132e-01 2.82904556e+02] [-2.79899484e-01 9.59386902e-01 -3.51148210e-02 -6.19657749e+01] [-1.25664448e-01 -3.51221462e-04 9.92072741e-01 -2.19237414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:-61.97, Z:-21.93 [[ 9.52028732e-01 2.80954429e-01 1.21267899e-01 2.82931113e+02] [-2.78730514e-01 9.59721086e-01 -3.52808326e-02 -6.19741661e+01] [-1.26295666e-01 -2.12697331e-04 9.91992621e-01 -2.19274387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-61.98, Z:-21.93 [[ 9.52311611e-01 2.79760410e-01 1.21806029e-01 2.82956484e+02] [-2.77508107e-01 9.60069846e-01 -3.54279757e-02 -6.19818682e+01] [-1.26853641e-01 -6.36880334e-05 9.91921443e-01 -2.19309062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:-61.99, Z:-21.93 [[ 9.53142586e-01 2.77204991e-01 1.21147029e-01 2.82982461e+02] [-2.74957897e-01 9.60810763e-01 -3.52254472e-02 -6.19878540e+01] [-1.26164040e-01 2.64541481e-04 9.92009357e-01 -2.19334408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.01, Y:-61.99, Z:-21.94 [[ 9.53567077e-01 2.75982136e-01 1.20597228e-01 2.83009443e+02] [-2.73747050e-01 9.61162676e-01 -3.50551478e-02 -6.19945468e+01] [-1.25588149e-01 4.14299420e-04 9.92082378e-01 -2.19371898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:-62.00, Z:-21.94 [[ 9.53902308e-01 2.74807802e-01 1.20627770e-01 2.83035977e+02] [-2.72563414e-01 9.61499016e-01 -3.50546346e-02 -6.20014794e+01] [-1.25616769e-01 5.59980030e-04 9.92078683e-01 -2.19407655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.06, Y:-62.01, Z:-21.94 [[ 9.54505907e-01 2.72770945e-01 1.20476079e-01 2.83061883e+02] [-2.70517223e-01 9.62078657e-01 -3.50012892e-02 -6.20109265e+01] [-1.25454799e-01 8.18083066e-04 9.92098999e-01 -2.19441028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:-62.02, Z:-21.95 [[ 9.54740636e-01 2.71903260e-01 1.20577508e-01 2.83087938e+02] [-2.69640069e-01 9.62324147e-01 -3.50209767e-02 -6.20200905e+01] [-1.25556965e-01 9.23421933e-04 9.92085982e-01 -2.19480641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:-62.03, Z:-21.95 [[ 9.54894312e-01 2.71097084e-01 1.21174349e-01 2.83114486e+02] [-2.68805973e-01 9.62551462e-01 -3.51856661e-02 -6.20286720e+01] [-1.26175278e-01 1.02620360e-03 9.92007432e-01 -2.19515710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:-62.04, Z:-21.95 [[ 9.54916998e-01 2.70658748e-01 1.21972822e-01 2.83140657e+02] [-2.68334909e-01 9.62674749e-01 -3.54076975e-02 -6.20365264e+01] [-1.27003559e-01 1.08184624e-03 9.91901671e-01 -2.19543866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:-62.04, Z:-21.96 [[ 9.54977590e-01 2.70575114e-01 1.21683647e-01 2.83168715e+02] [-2.68262684e-01 9.62698258e-01 -3.53156717e-02 -6.20431231e+01] [-1.26700177e-01 1.08249337e-03 9.91940469e-01 -2.19574011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:283.20, Y:-62.05, Z:-21.96 [[ 9.55063299e-01 2.70629381e-01 1.20887683e-01 2.83196547e+02] [-2.68348469e-01 9.62683027e-01 -3.50783305e-02 -6.20496965e+01] [-1.25869748e-01 1.06200145e-03 9.92046208e-01 -2.19610503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-62.06, Z:-21.97 [[ 9.54771229e-01 2.71551548e-01 1.21126616e-01 2.83223504e+02] [-2.69269782e-01 9.62423441e-01 -3.51412064e-02 -6.20574287e+01] [-1.26117744e-01 9.36075345e-04 9.92014838e-01 -2.19660416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:-62.07, Z:-21.97 [[ 9.54551588e-01 2.72369907e-01 1.21020246e-01 2.83250350e+02] [-2.70099512e-01 9.62192267e-01 -3.51040496e-02 -6.20652699e+01] [-1.26006032e-01 8.21116966e-04 9.92029136e-01 -2.19702785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:-62.07, Z:-21.97 [[ 9.54419107e-01 2.73991209e-01 1.18376455e-01 2.83276392e+02] [-2.71832648e-01 9.61732018e-01 -3.43298445e-02 -6.20719770e+01] [-1.23252503e-01 5.86474260e-04 9.92375169e-01 -2.19747570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:-62.08, Z:-21.98 [[ 9.54253446e-01 2.74909094e-01 1.17581252e-01 2.83302833e+02] [-2.72787813e-01 9.61470116e-01 -3.40884951e-02 -6.20786096e+01] [-1.22422097e-01 4.54331411e-04 9.92478022e-01 -2.19787050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:-62.08, Z:-21.98 [[ 9.54102328e-01 2.75393612e-01 1.17673725e-01 2.83329150e+02] [-2.73273765e-01 9.61331478e-01 -3.41062814e-02 -6.20849346e+01] [-1.22516108e-01 3.83740526e-04 9.92466451e-01 -2.19825128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:-62.09, Z:-21.99 [[ 9.54027446e-01 2.75657100e-01 1.17663911e-01 2.83356518e+02] [-2.73540936e-01 9.61255974e-01 -3.40926485e-02 -6.20910651e+01] [-1.22503018e-01 3.39426133e-04 9.92468083e-01 -2.19858155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.38, Y:-62.10, Z:-21.99 [[ 9.54238206e-01 2.74769568e-01 1.18030209e-01 2.83383738e+02] [-2.72634517e-01 9.61510003e-01 -3.41896844e-02 -6.20970700e+01] [-1.22881512e-01 4.45994073e-04 9.92421249e-01 -2.19876364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:-62.11, Z:-21.99 [[ 9.54456692e-01 2.73475277e-01 1.19263134e-01 2.83410133e+02] [-2.71286301e-01 9.61878839e-01 -3.45375518e-02 -6.21051534e+01] [-1.24161851e-01 6.10142946e-04 9.92261791e-01 -2.19923544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-62.11, Z:-22.00 [[ 9.54792127e-01 2.71893551e-01 1.20191060e-01 2.83435250e+02] [-2.69658876e-01 9.62326990e-01 -3.47973559e-02 -6.21131610e+01] [-1.25124278e-01 8.13655358e-04 9.92140743e-01 -2.19957064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:-62.12, Z:-22.00 [[ 9.55240765e-01 2.70217459e-01 1.20406004e-01 2.83461960e+02] [-2.67963392e-01 9.62798776e-01 -3.48444710e-02 -6.21212572e+01] [-1.25342338e-01 1.02045791e-03 9.92113026e-01 -2.19990740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:-62.13, Z:-22.00 [[ 9.55705606e-01 2.68539299e-01 1.20471740e-01 2.83488469e+02] [-2.66270665e-01 9.63267941e-01 -3.48540663e-02 -6.21290592e+01] [-1.25406252e-01 1.23213617e-03 9.92104709e-01 -2.20026766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:-62.14, Z:-22.01 [[ 9.56449610e-01 2.65509365e-01 1.21280338e-01 2.83513540e+02] [-2.63186729e-01 9.64106897e-01 -3.50804196e-02 -6.21377987e+01] [-1.26241390e-01 1.63327830e-03 9.91998208e-01 -2.20070446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:-62.15, Z:-22.01 [[ 9.56819026e-01 2.64384145e-01 1.20823733e-01 2.83540601e+02] [-2.62071486e-01 9.64415839e-01 -3.49374501e-02 -6.21467225e+01] [-1.25761230e-01 1.76436171e-03 9.92058970e-01 -2.20111728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:-62.15, Z:-22.02 [[ 9.56840244e-01 2.64306617e-01 1.20825330e-01 2.83568529e+02] [-2.61994040e-01 9.64437081e-01 -3.49319272e-02 -6.21547002e+01] [-1.25761168e-01 1.76875739e-03 9.92058970e-01 -2.20151573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:-62.16, Z:-22.02 [[ 9.57164332e-01 2.63477530e-01 1.20066785e-01 2.83594768e+02] [-2.61188869e-01 9.64663749e-01 -3.47019541e-02 -6.21635748e+01] [-1.24967260e-01 1.85536504e-03 9.92159131e-01 -2.20192177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:-62.17, Z:-22.02 [[ 9.57734397e-01 2.62121702e-01 1.18478009e-01 2.83622060e+02] [-2.59884141e-01 9.65032759e-01 -3.42346054e-02 -6.21735995e+01] [-1.23308793e-01 1.99710355e-03 9.92366340e-01 -2.20228600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:283.65, Y:-62.18, Z:-22.03 [[ 9.57768890e-01 2.61820570e-01 1.18864389e-01 2.83648045e+02] [-2.59566765e-01 9.65114418e-01 -3.43402657e-02 -6.21826404e+01] [-1.23708724e-01 2.03679317e-03 9.92316483e-01 -2.20250027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-62.19, Z:-22.03 [[ 9.57707186e-01 2.61881835e-01 1.19226048e-01 2.83674587e+02] [-2.59615755e-01 9.65097817e-01 -3.44363763e-02 -6.21922015e+01] [-1.24083060e-01 2.02700472e-03 9.92269765e-01 -2.20287153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:-62.20, Z:-22.03 [[ 9.57673971e-01 2.62079874e-01 1.19057569e-01 2.83700647e+02] [-2.59822516e-01 9.65044128e-01 -3.43815418e-02 -6.22009321e+01] [-1.23906518e-01 1.99247046e-03 9.92291895e-01 -2.20321495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:-62.21, Z:-22.04 [[ 9.57401597e-01 2.63404350e-01 1.18322993e-01 2.83728066e+02] [-2.61185975e-01 9.64683836e-01 -3.41611421e-02 -6.22116222e+01] [-1.23142472e-01 1.80162565e-03 9.92387367e-01 -2.20357237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-62.22, Z:-22.04 [[ 9.57136216e-01 2.64279592e-01 1.18518189e-01 2.83755080e+02] [-2.62060919e-01 9.64444630e-01 -3.42144679e-02 -6.22216956e+01] [-1.23346416e-01 1.68892091e-03 9.92362237e-01 -2.20402989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.78, Y:-62.23, Z:-22.04 [[ 9.56998751e-01 2.64999588e-01 1.18019531e-01 2.83780899e+02] [-2.62805621e-01 9.64247222e-01 -3.40661081e-02 -6.22313827e+01] [-1.22827510e-01 1.58502675e-03 9.92426768e-01 -2.20430213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:283.81, Y:-62.24, Z:-22.05 [[ 9.56698722e-01 2.65979522e-01 1.18247407e-01 2.83807406e+02] [-2.63785452e-01 9.63977582e-01 -3.41241463e-02 -6.22411289e+01] [-1.23064174e-01 1.45458158e-03 9.92397649e-01 -2.20462616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.83, Y:-62.25, Z:-22.05 [[ 9.56087565e-01 2.68055067e-01 1.18503370e-01 2.83834066e+02] [-2.65868078e-01 9.63402864e-01 -3.41919021e-02 -6.22526230e+01] [-1.23331798e-01 1.18418927e-03 9.92364784e-01 -2.20506942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:-62.26, Z:-22.06 [[ 9.55792153e-01 2.69425072e-01 1.17777293e-01 2.83861079e+02] [-2.67276042e-01 9.63020841e-01 -3.39761174e-02 -6.22631703e+01] [-1.22576006e-01 9.95057531e-04 9.92458630e-01 -2.20553078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.89, Y:-62.27, Z:-22.06 [[ 9.55461133e-01 2.70926468e-01 1.17016545e-01 2.83888465e+02] [-2.68816967e-01 9.62599720e-01 -3.37523073e-02 -6.22727600e+01] [-1.21784487e-01 7.92985054e-04 9.92556250e-01 -2.20585051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:-62.28, Z:-22.06 [[ 9.54194548e-01 2.75213020e-01 1.17348025e-01 2.83914275e+02] [-2.73124505e-01 9.61383241e-01 -3.38418321e-02 -6.22830672e+01] [-1.22130137e-01 2.41070499e-04 9.92514066e-01 -2.20625348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:-62.29, Z:-22.07 [[ 9.53460521e-01 2.77555865e-01 1.17795488e-01 2.83940655e+02] [-2.75470093e-01 9.60709497e-01 -3.39630717e-02 -6.22918180e+01] [-1.22593893e-01 -6.66859204e-05 9.92456917e-01 -2.20669300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:-62.30, Z:-22.07 [[ 9.52808998e-01 2.79900402e-01 1.17519269e-01 2.83967221e+02] [-2.77843173e-01 9.60028971e-01 -3.38754631e-02 -6.23008474e+01] [-1.22303659e-01 -3.75080586e-04 9.92492657e-01 -2.20704467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:-62.31, Z:-22.07 [[ 9.52164750e-01 2.82152623e-01 1.17354959e-01 2.83993801e+02] [-2.80119326e-01 9.59369296e-01 -3.38189025e-02 -6.23098067e+01] [-1.22128836e-01 -6.72225111e-04 9.92514028e-01 -2.20741854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:-62.32, Z:-22.08 [[ 9.51515846e-01 2.84315137e-01 1.17398882e-01 2.84020575e+02] [-2.82297850e-01 9.58730402e-01 -3.38221978e-02 -6.23184052e+01] [-1.22170040e-01 -9.59094817e-04 9.92508721e-01 -2.20773752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:-62.33, Z:-22.08 [[ 9.50244626e-01 2.88170145e-01 1.18292512e-01 2.84046829e+02] [-2.86152813e-01 9.57578087e-01 -3.40701518e-02 -6.23262746e+01] [-1.23092318e-01 -1.47475635e-03 9.92394129e-01 -2.20811210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-62.33, Z:-22.08 [[ 9.49809606e-01 2.89703463e-01 1.18040742e-01 2.84072568e+02] [-2.87707626e-01 9.57114981e-01 -3.39887555e-02 -6.23349001e+01] [-1.22825223e-01 -1.67837513e-03 9.92426898e-01 -2.20845053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:-62.34, Z:-22.09 [[ 9.49532393e-01 2.90856849e-01 1.17433076e-01 2.84099244e+02] [-2.88892102e-01 9.56764829e-01 -3.37996339e-02 -6.23437457e+01] [-1.22186692e-01 -1.83164084e-03 9.92505445e-01 -2.20883088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:-62.35, Z:-22.09 [[ 9.49246265e-01 2.91893740e-01 1.17173259e-01 2.84124585e+02] [-2.89946703e-01 9.56448726e-01 -3.37156359e-02 -6.23511547e+01] [-1.21911598e-01 -1.96955880e-03 9.92539008e-01 -2.20918076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-62.36, Z:-22.10 [[ 9.48968069e-01 2.92798148e-01 1.17170167e-01 2.84151716e+02] [-2.90859445e-01 9.56171977e-01 -3.37036187e-02 -6.23586888e+01] [-1.21903188e-01 -2.09639183e-03 9.92539782e-01 -2.20958046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.18, Y:-62.37, Z:-22.10 [[ 9.48430446e-01 2.94305167e-01 1.17746163e-01 2.84177047e+02] [-2.92360001e-01 9.55708706e-01 -3.38599914e-02 -6.23662797e+01] [-1.22496204e-01 -2.31042163e-03 9.92466293e-01 -2.20987350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.20, Y:-62.37, Z:-22.10 [[ 9.48153271e-01 2.95037960e-01 1.18143877e-01 2.84202742e+02] [-2.93086566e-01 9.55482458e-01 -3.39637517e-02 -6.23739644e+01] [-1.22904999e-01 -2.42354102e-03 9.92415481e-01 -2.21028697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-62.38, Z:-22.11 [[ 9.47826004e-01 2.95921475e-01 1.18559468e-01 2.84229513e+02] [-2.93965072e-01 9.55208834e-01 -3.40678609e-02 -6.23817015e+01] [-1.23330463e-01 -2.56193811e-03 9.92362350e-01 -2.21065638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:-62.39, Z:-22.11 [[ 9.47262188e-01 2.97886103e-01 1.18144896e-01 2.84255773e+02] [-2.95959660e-01 9.54597266e-01 -3.39402249e-02 -6.23870131e+01] [-1.22891116e-01 -2.81583152e-03 9.92416165e-01 -2.21087127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:-62.39, Z:-22.11 [[ 9.46933958e-01 2.98953945e-01 1.18078859e-01 2.84282658e+02] [-2.97040008e-01 9.54262922e-01 -3.39044194e-02 -6.23931956e+01] [-1.22814136e-01 -2.96889899e-03 9.92425248e-01 -2.21125931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:-62.40, Z:-22.12 [[ 9.46613497e-01 3.00016616e-01 1.17953029e-01 2.84309567e+02] [-2.98116105e-01 9.53928899e-01 -3.38591656e-02 -6.23994717e+01] [-1.22677116e-01 -3.11215456e-03 9.92441756e-01 -2.21161802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.34, Y:-62.41, Z:-22.12 [[ 9.46488839e-01 3.00511521e-01 1.17693264e-01 2.84335358e+02] [-2.98624302e-01 9.53772891e-01 -3.37757052e-02 -6.24053611e+01] [-1.22402633e-01 -3.17774079e-03 9.92475439e-01 -2.21200457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.36, Y:-62.41, Z:-22.12 [[ 9.46697219e-01 3.00025054e-01 1.17257588e-01 2.84362593e+02] [-2.98149405e-01 9.53926242e-01 -3.36401242e-02 -6.24098170e+01] [-1.21947971e-01 -3.11326817e-03 9.92531612e-01 -2.21240105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-62.42, Z:-22.13 [[ 9.47047785e-01 2.99023145e-01 1.16985692e-01 2.84388266e+02] [-2.97149717e-01 9.54241187e-01 -3.35529884e-02 -6.24156964e+01] [-1.21665686e-01 -2.98598208e-03 9.92566645e-01 -2.21281186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-62.42, Z:-22.13 [[ 9.47548465e-01 2.97458992e-01 1.16919012e-01 2.84414844e+02] [-2.95577193e-01 9.54730507e-01 -3.35228577e-02 -6.24227020e+01] [-1.21597823e-01 -2.79406080e-03 9.92575520e-01 -2.21325523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.44, Y:-62.43, Z:-22.14 [[ 9.48788926e-01 2.93371687e-01 1.17186296e-01 2.84442072e+02] [-2.91451261e-01 9.55995731e-01 -3.35905468e-02 -6.24288822e+01] [-1.21884114e-01 -2.28375490e-03 9.92541711e-01 -2.21359435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.47, Y:-62.43, Z:-22.14 [[ 9.49480740e-01 2.91062074e-01 1.17342206e-01 2.84469845e+02] [-2.89120081e-01 9.56702082e-01 -3.36259547e-02 -6.24345704e+01] [-1.22048772e-01 -1.99879158e-03 9.92522091e-01 -2.21393174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-62.44, Z:-22.14 [[ 9.50266178e-01 2.88474638e-01 1.17373649e-01 2.84496547e+02] [-2.86513056e-01 9.57486071e-01 -3.36257814e-02 -6.24399209e+01] [-1.22083819e-01 -1.67564002e-03 9.92518379e-01 -2.21431854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:-62.45, Z:-22.15 [[ 9.51096775e-01 2.85747570e-01 1.17316886e-01 2.84523946e+02] [-2.83768563e-01 9.58303993e-01 -3.35985070e-02 -6.24457813e+01] [-1.22025932e-01 -1.33541259e-03 9.92526014e-01 -2.21467063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:-62.45, Z:-22.15 [[ 9.51849313e-01 2.83172866e-01 1.17456436e-01 2.84549992e+02] [-2.81170720e-01 9.59068349e-01 -3.36292850e-02 -6.24523002e+01] [-1.22171651e-01 -1.01529896e-03 9.92508467e-01 -2.21504373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-62.46, Z:-22.15 [[ 9.52565042e-01 2.80741120e-01 1.17491550e-01 2.84576513e+02] [-2.78720679e-01 9.59783264e-01 -3.36284015e-02 -6.24596685e+01] [-1.22207298e-01 -7.14084758e-04 9.92504341e-01 -2.21540870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-62.47, Z:-22.16 [[ 9.53938340e-01 2.76153853e-01 1.17220705e-01 2.84604039e+02] [-2.74109379e-01 9.61113433e-01 -3.35412712e-02 -6.24680397e+01] [-1.21924945e-01 -1.34990142e-04 9.92539314e-01 -2.21583192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-62.48, Z:-22.16 [[ 9.54502846e-01 2.74218853e-01 1.17167989e-01 2.84630658e+02] [-2.72162460e-01 9.61667307e-01 -3.35199381e-02 -6.24758344e+01] [-1.21868424e-01 1.06148189e-04 9.92546259e-01 -2.21621798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:-62.48, Z:-22.17 [[ 9.54911089e-01 2.72818265e-01 1.17111083e-01 2.84657235e+02] [-2.70754369e-01 9.62065548e-01 -3.34955852e-02 -6.24832612e+01] [-1.21806746e-01 2.76968386e-04 9.92553797e-01 -2.21660347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45264000000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.68, Y:-62.49, Z:-22.17 [[ 9.55364261e-01 2.71146798e-01 1.17296817e-01 2.84684339e+02] [-2.69064691e-01 9.62537885e-01 -3.35412034e-02 -6.24896428e+01] [-1.21997220e-01 4.83635255e-04 9.92530324e-01 -2.21692441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-62.50, Z:-22.17 [[ 9.55574395e-01 2.70406801e-01 1.17293379e-01 2.84711359e+02] [-2.68320440e-01 9.62745988e-01 -3.35306291e-02 -6.24971402e+01] [-1.21990640e-01 5.68799529e-04 9.92531088e-01 -2.21736856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-62.51, Z:-22.18 [[ 9.55835911e-01 2.69666419e-01 1.16866304e-01 2.84737929e+02] [-2.67590503e-01 9.62953578e-01 -3.34025360e-02 -6.25052902e+01] [-1.21544368e-01 6.55030338e-04 9.92585783e-01 -2.21779005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.76, Y:-62.52, Z:-22.18 [[ 9.56237294e-01 2.68319853e-01 1.16682020e-01 2.84763925e+02] [-2.66241510e-01 9.63329533e-01 -3.33417123e-02 -6.25161402e+01] [-1.21349479e-01 8.16991620e-04 9.92609509e-01 -2.21820807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.79, Y:-62.53, Z:-22.19 [[ 9.56393950e-01 2.67691982e-01 1.16840126e-01 2.84790477e+02] [-2.65604239e-01 9.63504131e-01 -3.33793157e-02 -6.25258957e+01] [-1.21511319e-01 8.90542840e-04 9.92589646e-01 -2.21864797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.82, Y:-62.53, Z:-22.19 [[ 9.56538081e-01 2.67055553e-01 1.17116311e-01 2.84818008e+02] [-2.64953885e-01 9.63680650e-01 -3.34521153e-02 -6.25344928e+01] [-1.21796296e-01 9.67800574e-04 9.92554646e-01 -2.21898967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.84, Y:-62.54, Z:-22.19 [[ 9.56488712e-01 2.67088232e-01 1.17444542e-01 2.84844553e+02] [-2.64975707e-01 9.63671600e-01 -3.35398471e-02 -6.25420694e+01] [-1.22136068e-01 9.60534806e-04 9.92512901e-01 -2.21935513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:-62.55, Z:-22.20 [[ 9.56429255e-01 2.67046258e-01 1.18022782e-01 2.84873100e+02] [-2.65020177e-01 9.63683704e-01 -3.28332973e-02 -6.25507198e+01] [-1.22504641e-01 1.24307435e-04 9.92467933e-01 -2.21971492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.90, Y:-62.56, Z:-22.20 [[ 9.56241648e-01 2.68010794e-01 1.17354696e-01 2.84899899e+02] [-2.65802857e-01 9.63414454e-01 -3.43719537e-02 -6.25609867e+01] [-1.22273265e-01 1.67468023e-03 9.92495060e-01 -2.22012793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.93, Y:-62.57, Z:-22.20 [[ 9.56111124e-01 2.68469674e-01 1.17369298e-01 2.84927151e+02] [-2.66372221e-01 9.63287831e-01 -3.35021673e-02 -6.25710850e+01] [-1.22054733e-01 7.67874122e-04 9.92523074e-01 -2.22048985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-62.58, Z:-22.21 [[ 9.55842425e-01 2.69363792e-01 1.17509172e-01 2.84953513e+02] [-2.67268797e-01 9.63038279e-01 -3.35360072e-02 -6.25800603e+01] [-1.22199217e-01 6.48603539e-04 9.92505381e-01 -2.22087397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:-62.59, Z:-22.21 [[ 9.55592719e-01 2.70225445e-01 1.17561748e-01 2.84980071e+02] [-2.68136016e-01 9.62796929e-01 -3.35432558e-02 -6.25888159e+01] [-1.22252331e-01 5.31152357e-04 9.92498910e-01 -2.22125054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-62.60, Z:-22.22 [[ 9.54837725e-01 2.72784344e-01 1.17786332e-01 2.85007388e+02] [-2.70707239e-01 9.62075186e-01 -3.35995215e-02 -6.25971390e+01] [-1.22484731e-01 1.96477970e-04 9.92470378e-01 -2.22162602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-62.60, Z:-22.22 [[ 9.54436833e-01 2.74161964e-01 1.17836961e-01 2.85034225e+02] [-2.72094275e-01 9.61683533e-01 -3.36078595e-02 -6.26045257e+01] [-1.22535861e-01 1.38166868e-05 9.92464086e-01 -2.22198547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-62.61, Z:-22.22 [[ 9.54053177e-01 2.75446976e-01 1.17947015e-01 2.85061750e+02] [-2.73386171e-01 9.61316253e-01 -3.36312899e-02 -6.26127959e+01] [-1.22648020e-01 -1.59043966e-04 9.92450219e-01 -2.22242848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-62.62, Z:-22.23 [[ 9.53697995e-01 2.76637544e-01 1.18033063e-01 2.85089077e+02] [-2.74583589e-01 9.60974281e-01 -3.36494421e-02 -6.26216361e+01] [-1.22735437e-01 -3.18536597e-04 9.92439374e-01 -2.22284461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:-62.63, Z:-22.23 [[ 9.53298777e-01 2.77873011e-01 1.18355534e-01 2.85116359e+02] [-2.75817830e-01 9.60617695e-01 -3.37367543e-02 -6.26308833e+01] [-1.23068954e-01 -4.83360043e-04 9.92398004e-01 -2.22324707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-62.64, Z:-22.24 [[ 9.52694530e-01 2.79682102e-01 1.18958206e-01 2.85142282e+02] [-2.77620683e-01 9.60092388e-01 -3.39022579e-02 -6.26402183e+01] [-1.23692723e-01 -7.26762713e-04 9.92320302e-01 -2.22358358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-62.65, Z:-22.24 [[ 9.52511546e-01 2.80265739e-01 1.19049861e-01 2.85168303e+02] [-2.78206639e-01 9.59922110e-01 -3.39206117e-02 -6.26481377e+01] [-1.23785379e-01 -8.10687291e-04 9.92308683e-01 -2.22398715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.20, Y:-62.66, Z:-22.24 [[ 9.52240053e-01 2.81108088e-01 1.19235587e-01 2.85196441e+02] [-2.79050292e-01 9.59675662e-01 -3.39640701e-02 -6.26550352e+01] [-1.23975066e-01 -9.30777317e-04 9.92284897e-01 -2.22427678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-62.66, Z:-22.25 [[ 9.52108636e-01 2.81618923e-01 1.19079501e-01 2.85223108e+02] [-2.79571275e-01 9.59525809e-01 -3.39134718e-02 -6.26629032e+01] [-1.23810530e-01 -1.00189847e-03 9.92305371e-01 -2.22469435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-62.67, Z:-22.25 [[ 9.52046163e-01 2.81707689e-01 1.19368676e-01 2.85248833e+02] [-2.79817430e-01 9.59497503e-01 -3.26611031e-02 -6.26719600e+01] [-1.23734831e-01 -2.30655836e-03 9.92312638e-01 -2.22510857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:-62.68, Z:-22.25 [[ 9.52048702e-01 2.81837357e-01 1.19041893e-01 2.85276999e+02] [-2.79798365e-01 9.59461594e-01 -3.38574090e-02 -6.26791520e+01] [-1.23758407e-01 -1.07382461e-03 9.92311798e-01 -2.22549911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-62.69, Z:-22.26 [[ 9.52027010e-01 2.82277016e-01 1.18170464e-01 2.85302945e+02] [-2.80107359e-01 9.59332926e-01 -3.49314403e-02 -6.26874514e+01] [-1.23225159e-01 1.55258234e-04 9.92378726e-01 -2.22589117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-62.70, Z:-22.26 [[ 9.51922896e-01 2.82602993e-01 1.18230062e-01 2.85328792e+02] [-2.80595551e-01 9.59236274e-01 -3.36438301e-02 -6.26968330e+01] [-1.22918411e-01 -1.14849725e-03 9.92416115e-01 -2.22625194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-62.71, Z:-22.27 [[ 9.51633218e-01 2.83537217e-01 1.18325252e-01 2.85354786e+02] [-2.81534820e-01 9.58960381e-01 -3.36620542e-02 -6.27062033e+01] [-1.23013673e-01 -1.27874939e-03 9.92404152e-01 -2.22667372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-62.71, Z:-22.27 [[ 9.51468344e-01 2.83867668e-01 1.18857636e-01 2.85381261e+02] [-2.81850863e-01 9.58862535e-01 -3.38042875e-02 -6.27138557e+01] [-1.23564079e-01 -1.33641798e-03 9.92335695e-01 -2.22703384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:-62.72, Z:-22.27 [[ 9.51136545e-01 2.84634153e-01 1.19677362e-01 2.85409058e+02] [-2.82596595e-01 9.58635113e-01 -3.40276983e-02 -6.27211219e+01] [-1.24412366e-01 -1.45542744e-03 9.92229532e-01 -2.22733630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-62.73, Z:-22.28 [[ 9.50316395e-01 2.86621814e-01 1.21435934e-01 2.85435367e+02] [-2.84540680e-01 9.58042213e-01 -3.45212840e-02 -6.27286415e+01] [-1.26235304e-01 -1.74732098e-03 9.91998788e-01 -2.22772688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-62.74, Z:-22.28 [[ 9.50062621e-01 2.87499268e-01 1.21347385e-01 2.85462114e+02] [-2.85429314e-01 9.57779032e-01 -3.44881643e-02 -6.27377874e+01] [-1.26139302e-01 -1.87018495e-03 9.92010776e-01 -2.22808606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-62.75, Z:-22.28 [[ 9.49781782e-01 2.88538088e-01 1.21079882e-01 2.85488894e+02] [-2.86486825e-01 9.57466304e-01 -3.44031499e-02 -6.27465217e+01] [-1.25856526e-01 -2.01230588e-03 9.92046413e-01 -2.22849901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-62.75, Z:-22.29 [[ 9.49463754e-01 2.89735113e-01 1.20715134e-01 2.85515492e+02] [-2.87706645e-01 9.57104411e-01 -3.42933257e-02 -6.27542616e+01] [-1.25472967e-01 -2.17027638e-03 9.92094665e-01 -2.22882174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-62.76, Z:-22.29 [[ 9.48707178e-01 2.91983140e-01 1.21245773e-01 2.85542127e+02] [-2.89955998e-01 9.56420235e-01 -3.44362236e-02 -6.27614231e+01] [-1.26016707e-01 -2.48604649e-03 9.92025004e-01 -2.22921223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:285.57, Y:-62.77, Z:-22.30 [[ 9.48436528e-01 2.92817309e-01 1.21351453e-01 2.85568693e+02] [-2.90794621e-01 9.56164850e-01 -3.44567568e-02 -6.27685744e+01] [-1.26121529e-01 -2.60830311e-03 9.92011369e-01 -2.22953738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.59, Y:-62.78, Z:-22.30 [[ 9.48062493e-01 2.94338551e-01 1.20591572e-01 2.85594773e+02] [-2.92354691e-01 9.55697109e-01 -3.42311238e-02 -6.27765522e+01] [-1.25324556e-01 -2.80226732e-03 9.92111840e-01 -2.22995165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:-62.78, Z:-22.30 [[ 9.47722536e-01 2.95666940e-01 1.20012727e-01 2.85622055e+02] [-2.93713735e-01 9.55286467e-01 -3.40588929e-02 -6.27835635e+01] [-1.24716623e-01 -2.97100603e-03 9.92187955e-01 -2.23036152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-62.79, Z:-22.31 [[ 9.46962000e-01 2.98238962e-01 1.19651547e-01 2.85648058e+02] [-2.96319106e-01 9.54485503e-01 -3.39471833e-02 -6.27906205e+01] [-1.24330039e-01 -3.30834680e-03 9.92235404e-01 -2.23076931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.67, Y:-62.80, Z:-22.31 [[ 9.46651661e-01 2.99366474e-01 1.19291016e-01 2.85673576e+02] [-2.97468470e-01 9.54131945e-01 -3.38340237e-02 -6.27978566e+01] [-1.23948141e-01 -3.45628130e-03 9.92282678e-01 -2.23113904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-62.80, Z:-22.32 [[ 9.46379502e-01 3.00306156e-01 1.19088415e-01 2.85700005e+02] [-2.98423346e-01 9.53836135e-01 -3.37658753e-02 -6.28049262e+01] [-1.23730934e-01 -3.58343110e-03 9.92309334e-01 -2.23153664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-62.81, Z:-22.32 [[ 9.46105015e-01 3.01346144e-01 1.18641485e-01 2.85726673e+02] [-2.99486747e-01 9.53507582e-01 -3.36300538e-02 -6.28106778e+01] [-1.23259843e-01 -3.71398990e-03 9.92367481e-01 -2.23199766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-62.82, Z:-22.32 [[ 9.46030351e-01 3.01672971e-01 1.18406054e-01 2.85753846e+02] [-2.99824668e-01 9.53404057e-01 -3.35540193e-02 -6.28173519e+01] [-1.23011153e-01 -3.75793512e-03 9.92398173e-01 -2.23238402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-62.82, Z:-22.33 [[ 9.46077015e-01 3.01495187e-01 1.18486004e-01 2.85780022e+02] [-2.99644148e-01 9.53460338e-01 -3.35673560e-02 -6.28233108e+01] [-1.23092102e-01 -3.74633376e-03 9.92388180e-01 -2.23278769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-62.83, Z:-22.33 [[ 9.46270710e-01 3.00834696e-01 1.18617993e-01 2.85807297e+02] [-2.98975743e-01 9.53669218e-01 -3.35935619e-02 -6.28299527e+01] [-1.23228438e-01 -3.67529889e-03 9.92371525e-01 -2.23316154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-62.84, Z:-22.34 [[ 9.47039989e-01 2.98180838e-01 1.19178213e-01 2.85832330e+02] [-2.96284459e-01 9.54503501e-01 -3.37429423e-02 -6.28378275e+01] [-1.23817520e-01 -3.35473646e-03 9.92299334e-01 -2.23363895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-62.85, Z:-22.34 [[ 9.47795164e-01 2.95819256e-01 1.19060044e-01 2.85858246e+02] [-2.93909462e-01 9.55239050e-01 -3.36984475e-02 -6.28464722e+01] [-1.23699453e-01 -3.05364792e-03 9.92315031e-01 -2.23397334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.89, Y:-62.86, Z:-22.34 [[ 9.48664480e-01 2.92736147e-01 1.19754972e-01 2.85885078e+02] [-2.90893829e-01 9.56186680e-01 -3.29820251e-02 -6.28553812e+01] [-1.24163140e-01 -3.54710681e-03 9.92255478e-01 -2.23433376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-62.86, Z:-22.35 [[ 9.50310591e-01 2.87379065e-01 1.19678960e-01 2.85910439e+02] [-2.85298096e-01 9.57816029e-01 -3.45463628e-02 -6.28644639e+01] [-1.24558327e-01 -1.31440494e-03 9.92211417e-01 -2.23473328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-62.87, Z:-22.35 [[ 9.51017899e-01 2.84926973e-01 1.19923208e-01 2.85937215e+02] [-2.82866661e-01 9.58548250e-01 -3.42301850e-02 -6.28729821e+01] [-1.24705284e-01 -1.36875868e-03 9.92192884e-01 -2.23510478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:-62.88, Z:-22.35 [[ 9.51618629e-01 2.82884191e-01 1.19993831e-01 2.85964791e+02] [-2.80846018e-01 9.59153028e-01 -3.39261290e-02 -6.28814256e+01] [-1.24689612e-01 -1.41505328e-03 9.92194788e-01 -2.23544656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-62.89, Z:-22.36 [[ 9.52348276e-01 2.80432319e-01 1.19960311e-01 2.85991349e+02] [-2.78376697e-01 9.59873171e-01 -3.39103188e-02 -6.28922066e+01] [-1.24656234e-01 -1.09972163e-03 9.92199382e-01 -2.23590749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:-62.90, Z:-22.36 [[ 9.52496199e-01 2.80027187e-01 1.19732061e-01 2.86017661e+02] [-2.77977041e-01 9.59991495e-01 -3.38392459e-02 -6.29018045e+01] [-1.24417669e-01 -1.05101092e-03 9.92229378e-01 -2.23631122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-62.91, Z:-22.37 [[ 9.52476174e-01 2.80307266e-01 1.19234958e-01 2.86044189e+02] [-2.78276931e-01 9.59909712e-01 -3.36941471e-02 -6.29111977e+01] [-1.23899508e-01 -1.08746580e-03 9.92294175e-01 -2.23670402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-62.92, Z:-22.37 [[ 9.52230875e-01 2.81410671e-01 1.18593398e-01 2.86071048e+02] [-2.79411497e-01 9.59586640e-01 -3.35066363e-02 -6.29193835e+01] [-1.23229765e-01 -1.23030527e-03 9.92377404e-01 -2.23709588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-62.93, Z:-22.38 [[ 9.51371850e-01 2.84912733e-01 1.17116771e-01 2.86097296e+02] [-2.82990335e-01 9.58552008e-01 -3.30835027e-02 -6.29263371e+01] [-1.21688427e-01 -1.66820109e-03 9.92566947e-01 -2.23751557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:-62.93, Z:-22.38 [[ 9.50863595e-01 2.86686113e-01 1.16916620e-01 2.86124873e+02] [-2.84784611e-01 9.58022685e-01 -3.30190950e-02 -6.29336225e+01] [-1.21474890e-01 -1.89939869e-03 9.92592688e-01 -2.23791335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-62.94, Z:-22.38 [[ 9.50382570e-01 2.88259192e-01 1.16959863e-01 2.86150946e+02] [-2.86368868e-01 9.57550103e-01 -3.30253256e-02 -6.29409134e+01] [-1.21514782e-01 -2.10696965e-03 9.92587386e-01 -2.23828319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-62.95, Z:-22.39 [[ 9.49998290e-01 2.89378939e-01 1.17316150e-01 2.86176849e+02] [-2.87486494e-01 9.57211942e-01 -3.31181919e-02 -6.29487477e+01] [-1.21880127e-01 -2.26458287e-03 9.92542244e-01 -2.23869757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.20, Y:-62.96, Z:-22.39 [[ 9.49576331e-01 2.90732082e-01 1.17386743e-01 2.86201850e+02] [-2.88848496e-01 9.56801375e-01 -3.31311748e-02 -6.29573469e+01] [-1.21948092e-01 -2.44640470e-03 9.92533464e-01 -2.23906393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-62.97, Z:-22.40 [[ 9.49548566e-01 2.90991313e-01 1.16968268e-01 2.86228495e+02] [-2.89124770e-01 9.56722471e-01 -3.29996960e-02 -6.29652539e+01] [-1.21508795e-01 -2.48360955e-03 9.92587248e-01 -2.23955222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.25, Y:-62.97, Z:-22.40 [[ 9.49551900e-01 2.91199094e-01 1.16422839e-01 2.86254758e+02] [-2.89352651e-01 9.56659188e-01 -3.28365896e-02 -6.29722055e+01] [-1.20938964e-01 -2.50721108e-03 9.92656779e-01 -2.23987675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-62.98, Z:-22.40 [[ 9.49564436e-01 2.91209330e-01 1.16294915e-01 2.86280260e+02] [-2.89367905e-01 9.56656058e-01 -3.27933378e-02 -6.29789148e+01] [-1.20803961e-01 -2.51262871e-03 9.92673204e-01 -2.24026840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-62.99, Z:-22.41 [[ 9.49438571e-01 2.91154311e-01 1.17454532e-01 2.86307370e+02] [-2.89276802e-01 9.56672727e-01 -3.31092772e-02 -6.29866145e+01] [-1.22005456e-01 -2.54164657e-03 9.92526175e-01 -2.24067254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-62.99, Z:-22.41 [[ 9.49465861e-01 2.90702457e-01 1.18349734e-01 2.86334176e+02] [-2.88793395e-01 9.56810215e-01 -3.33554717e-02 -6.29939684e+01] [-1.22934752e-01 -2.50873983e-03 9.92411584e-01 -2.24099372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-63.00, Z:-22.41 [[ 9.49601301e-01 2.89920699e-01 1.19177836e-01 2.86360758e+02] [-2.87979577e-01 9.57047581e-01 -3.35811047e-02 -6.30014051e+01] [-1.23794717e-01 -2.43212197e-03 9.92304869e-01 -2.24133161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.39, Y:-63.01, Z:-22.42 [[ 9.49760818e-01 2.89202052e-01 1.19651834e-01 2.86387361e+02] [-2.87240901e-01 9.57265176e-01 -3.37052906e-02 -6.30089914e+01] [-1.24286173e-01 -2.35693625e-03 9.92243615e-01 -2.24164564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-63.02, Z:-22.42 [[ 9.50375388e-01 2.87050446e-01 1.19952758e-01 2.86414805e+02] [-2.85063288e-01 9.57913191e-01 -3.37822625e-02 -6.30178357e+01] [-1.24601543e-01 -2.08829684e-03 9.92204664e-01 -2.24201526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:-63.02, Z:-22.42 [[ 9.50732137e-01 2.85533567e-01 1.20743470e-01 2.86441746e+02] [-2.83508642e-01 9.58366809e-01 -3.39986561e-02 -6.30247847e+01] [-1.25424292e-01 -1.90820231e-03 9.92101359e-01 -2.24235738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.47, Y:-63.03, Z:-22.43 [[ 9.50968106e-01 2.84448123e-01 1.21445157e-01 2.86469559e+02] [-2.82391732e-01 9.58689775e-01 -3.41880797e-02 -6.30312197e+01] [-1.26152965e-01 -1.78333469e-03 9.92009198e-01 -2.24264847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.50, Y:-63.04, Z:-22.43 [[ 9.51236198e-01 2.83474003e-01 1.21623131e-01 2.86497714e+02] [-2.81404428e-01 9.58978480e-01 -3.42318936e-02 -6.30380437e+01] [-1.26337817e-01 -1.66267129e-03 9.91985883e-01 -2.24303390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-63.05, Z:-22.43 [[ 9.51367359e-01 2.82955101e-01 1.21805414e-01 2.86525114e+02] [-2.80875878e-01 9.59131818e-01 -3.42767840e-02 -6.30460186e+01] [-1.26526239e-01 -1.60238912e-03 9.91961967e-01 -2.24342378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-63.05, Z:-22.44 [[ 9.51249216e-01 2.83229342e-01 1.22090410e-01 2.86551914e+02] [-2.81143405e-01 9.59050792e-01 -3.43506151e-02 -6.30540604e+01] [-1.26820007e-01 -1.64891798e-03 9.91924376e-01 -2.24372660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-63.06, Z:-22.44 [[ 9.51236191e-01 2.83296134e-01 1.22036916e-01 2.86579576e+02] [-2.81213620e-01 9.59031036e-01 -3.43274159e-02 -6.30614424e+01] [-1.26762014e-01 -1.66496265e-03 9.91931762e-01 -2.24416352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.61, Y:-63.07, Z:-22.45 [[ 9.51073965e-01 2.84113772e-01 1.21398839e-01 2.86606726e+02] [-2.82060472e-01 9.58788939e-01 -3.41417597e-02 -6.30666728e+01] [-1.26096008e-01 -1.77047514e-03 9.92016463e-01 -2.24450259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.63, Y:-63.07, Z:-22.45 [[ 9.50958251e-01 2.84471442e-01 1.21467707e-01 2.86634558e+02] [-2.82419728e-01 9.58682774e-01 -3.41531159e-02 -6.30727713e+01] [-1.26164584e-01 -1.82668939e-03 9.92007642e-01 -2.24487482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-63.08, Z:-22.45 [[ 9.50883096e-01 2.84638222e-01 1.21665199e-01 2.86661345e+02] [-2.82581962e-01 9.58633210e-01 -3.42024033e-02 -6.30787750e+01] [-1.26367611e-01 -1.85790333e-03 9.91981741e-01 -2.24528502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-63.08, Z:-22.46 [[ 9.50786781e-01 2.84961216e-01 1.21661835e-01 2.86688278e+02] [-2.82908705e-01 9.58537148e-01 -3.41935839e-02 -6.30846529e+01] [-1.26361234e-01 -1.90838468e-03 9.91982458e-01 -2.24560251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.72, Y:-63.09, Z:-22.46 [[ 9.50459775e-01 2.86074852e-01 1.21603433e-01 2.86716403e+02] [-2.84034421e-01 9.58205052e-01 -3.41690680e-02 -6.30884741e+01] [-1.26295935e-01 -2.06323599e-03 9.91990464e-01 -2.24591836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-63.09, Z:-22.46 [[ 9.50323274e-01 2.86510305e-01 1.21645060e-01 2.86743810e+02] [-2.84473252e-01 9.58074790e-01 -3.41711220e-02 -6.30939129e+01] [-1.26335444e-01 -2.13115339e-03 9.91985289e-01 -2.24626408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-63.10, Z:-22.47 [[ 9.49992426e-01 2.87490391e-01 1.21916637e-01 2.86771314e+02] [-2.85453229e-01 9.57780822e-01 -3.42396056e-02 -6.30993312e+01] [-1.26612974e-01 -2.27413168e-03 9.91949587e-01 -2.24663283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:286.80, Y:-63.10, Z:-22.47 [[ 9.49580385e-01 2.88868094e-01 1.21870077e-01 2.86798373e+02] [-2.86844959e-01 9.57365732e-01 -3.42173248e-02 -6.31042970e+01] [-1.26558528e-01 -2.46571661e-03 9.91956077e-01 -2.24690536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-63.11, Z:-22.47 [[ 9.48800837e-01 2.91581196e-01 1.21479949e-01 2.86825765e+02] [-2.89594349e-01 9.56541903e-01 -3.40983988e-02 -6.31058056e+01] [-1.26143114e-01 -2.82731741e-03 9.92008025e-01 -2.24730286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-63.11, Z:-22.48 [[ 9.48307447e-01 2.93164099e-01 1.21522829e-01 2.86853159e+02] [-2.91190207e-01 9.56057273e-01 -3.40991683e-02 -6.31095464e+01] [-1.26179437e-01 -3.04976252e-03 9.92002746e-01 -2.24767359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:286.88, Y:-63.11, Z:-22.48 [[ 9.47864626e-01 2.94566869e-01 1.21585402e-01 2.86879641e+02] [-2.92603605e-01 9.55625353e-01 -3.41073935e-02 -6.31131709e+01] [-1.26237001e-01 -3.24713514e-03 9.91994796e-01 -2.24805010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-63.12, Z:-22.48 [[ 9.47459883e-01 2.96026552e-01 1.21194271e-01 2.86907832e+02] [-2.94089208e-01 9.55173514e-01 -3.39867164e-02 -6.31157387e+01] [-1.25822528e-01 -3.44087680e-03 9.92046799e-01 -2.24848898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:-63.12, Z:-22.49 [[ 9.47460202e-01 2.96144725e-01 1.20902721e-01 2.86934017e+02] [-2.94218775e-01 9.55136825e-01 -3.38962859e-02 -6.31195379e+01] [-1.25516847e-01 -3.45646854e-03 9.92085467e-01 -2.24887148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-63.13, Z:-22.49 [[ 9.47509777e-01 2.95984318e-01 1.20907012e-01 2.86961228e+02] [-2.94059020e-01 9.55186564e-01 -3.38809727e-02 -6.31269576e+01] [-1.25516990e-01 -3.45124454e-03 9.92085467e-01 -2.24925853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-63.13, Z:-22.50 [[ 9.47641078e-01 2.95632400e-01 1.20738861e-01 2.86988537e+02] [-2.93712531e-01 9.55295648e-01 -3.38108672e-02 -6.31308347e+01] [-1.25336896e-01 -3.42194970e-03 9.92108337e-01 -2.24964020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-63.13, Z:-22.50 [[ 9.48238043e-01 2.94018957e-01 1.19989444e-01 2.87016550e+02] [-2.92111212e-01 9.55794241e-01 -3.35918015e-02 -6.31326193e+01] [-1.24561846e-01 -3.19723776e-03 9.92206694e-01 -2.25010954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-63.14, Z:-22.51 [[ 9.48551021e-01 2.93137652e-01 1.19671539e-01 2.87043355e+02] [-2.91234206e-01 9.56065279e-01 -3.34935731e-02 -6.31375095e+01] [-1.24232030e-01 -3.08208259e-03 9.92248408e-01 -2.25051494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-63.14, Z:-22.51 [[ 9.48851464e-01 2.92119575e-01 1.19779189e-01 2.87070736e+02] [-2.90205996e-01 9.56377216e-01 -3.35126831e-02 -6.31422197e+01] [-1.24343798e-01 -2.96208033e-03 9.92234774e-01 -2.25092967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-63.15, Z:-22.51 [[ 9.49107597e-01 2.91136816e-01 1.20142101e-01 2.87097139e+02] [-2.89204913e-01 9.56677180e-01 -3.36049386e-02 -6.31464596e+01] [-1.24720841e-01 -2.85098334e-03 9.92187776e-01 -2.25128636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:-63.15, Z:-22.52 [[ 9.49424920e-01 2.90020411e-01 1.20334874e-01 2.87125078e+02] [-2.88074753e-01 9.57016596e-01 -3.36477516e-02 -6.31509209e+01] [-1.24921006e-01 -2.71942514e-03 9.92162964e-01 -2.25162440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:-63.15, Z:-22.52 [[ 9.50155032e-01 2.87882867e-01 1.19703256e-01 2.87154227e+02] [-2.85941888e-01 9.57662535e-01 -3.34620112e-02 -6.31513696e+01] [-1.24268463e-01 -2.43407677e-03 9.92245647e-01 -2.25196684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:-63.16, Z:-22.52 [[ 9.50559773e-01 2.86674575e-01 1.19389308e-01 2.87180756e+02] [-2.84735469e-01 9.58025310e-01 -3.33649294e-02 -6.31552069e+01] [-1.23942856e-01 -2.27901101e-03 9.92286740e-01 -2.25233992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-63.16, Z:-22.53 [[ 9.50965504e-01 2.85310095e-01 1.19426800e-01 2.87208498e+02] [-2.83360445e-01 9.58432933e-01 -3.33642214e-02 -6.31599103e+01] [-1.23981727e-01 -2.11260757e-03 9.92282252e-01 -2.25276379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-63.16, Z:-22.53 [[ 9.51757206e-01 2.82423639e-01 1.19979616e-01 2.87236446e+02] [-2.80434150e-01 9.59288180e-01 -3.35093252e-02 -6.31638995e+01] [-1.24558853e-01 -1.75363997e-03 9.92210672e-01 -2.25313859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-63.17, Z:-22.53 [[ 9.52305883e-01 2.80460629e-01 1.20230365e-01 2.87263482e+02] [-2.78448411e-01 9.59864343e-01 -3.35696969e-02 -6.31699516e+01] [-1.24819818e-01 -1.50933420e-03 9.92178278e-01 -2.25349551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-63.18, Z:-22.54 [[ 9.52927495e-01 2.78199363e-01 1.20558300e-01 2.87289937e+02] [-2.76159302e-01 9.60522572e-01 -3.36515684e-02 -6.31757761e+01] [-1.25160813e-01 -1.22579124e-03 9.92135711e-01 -2.25384066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-63.18, Z:-22.54 [[ 9.53501821e-01 2.76053158e-01 1.20950119e-01 2.87317070e+02] [-2.73984027e-01 9.61141891e-01 -3.37493307e-02 -6.31819539e+01] [-1.25566835e-01 -9.58352412e-04 9.92084700e-01 -2.25426987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-63.19, Z:-22.55 [[ 9.54816416e-01 2.71824239e-01 1.20154876e-01 2.87343036e+02] [-2.69750090e-01 9.62346828e-01 -3.35182441e-02 -6.31866073e+01] [-1.24741735e-01 -4.08018740e-04 9.92189162e-01 -2.25466466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:-63.19, Z:-22.55 [[ 9.55449556e-01 2.69651328e-01 1.20017945e-01 2.87370208e+02] [-2.67566218e-01 9.62958017e-01 -3.34690272e-02 -6.31929467e+01] [-1.24597210e-01 -1.34780469e-04 9.92207396e-01 -2.25503745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:-63.20, Z:-22.55 [[ 9.56029930e-01 2.67482239e-01 1.20249847e-01 2.87396176e+02] [-2.65373112e-01 9.63562781e-01 -3.35243011e-02 -6.31990914e+01] [-1.24835432e-01 1.39159040e-04 9.92177452e-01 -2.25544635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.42, Y:-63.21, Z:-22.56 [[ 9.56677547e-01 2.65200933e-01 1.20152134e-01 2.87423241e+02] [-2.63078713e-01 9.64193074e-01 -3.34859247e-02 -6.32058441e+01] [-1.24730354e-01 4.25763609e-04 9.92190585e-01 -2.25578400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-63.21, Z:-22.56 [[ 9.57992995e-01 2.60098020e-01 1.20824012e-01 2.87448453e+02] [-2.57912597e-01 9.65581605e-01 -3.36638589e-02 -6.32134045e+01] [-1.25421347e-01 1.08770618e-03 9.92102970e-01 -2.25615249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57264000000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.47, Y:-63.22, Z:-22.56 [[ 9.58588020e-01 2.58002695e-01 1.20596924e-01 2.87473786e+02] [-2.55810326e-01 9.66143255e-01 -3.35899938e-02 -6.32207438e+01] [-1.25180213e-01 1.34902740e-03 9.92133103e-01 -2.25647360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.50, Y:-63.23, Z:-22.57 [[ 9.59256490e-01 2.55395879e-01 1.20830175e-01 2.87500494e+02] [-2.53176121e-01 9.66835108e-01 -3.36411369e-02 -6.32281947e+01] [-1.25414663e-01 1.67916382e-03 9.92102990e-01 -2.25682080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-63.24, Z:-22.57 [[ 9.59316267e-01 2.54832054e-01 1.21543919e-01 2.87527495e+02] [-2.52582555e-01 9.66983736e-01 -3.38305549e-02 -6.32356527e+01] [-1.26152102e-01 1.75432811e-03 9.92009360e-01 -2.25719797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:287.55, Y:-63.24, Z:-22.58 [[ 9.59290114e-01 2.55036209e-01 1.21321927e-01 2.87554413e+02] [-2.52797743e-01 9.66929982e-01 -3.37596073e-02 -6.32437766e+01] [-1.25919731e-01 1.71534805e-03 9.92038950e-01 -2.25760185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.58, Y:-63.25, Z:-22.58 [[ 9.59244965e-01 2.55460985e-01 1.20784033e-01 2.87581999e+02] [-2.53246949e-01 9.66817969e-01 -3.36005494e-02 -6.32525283e+01] [-1.25359803e-01 1.64297000e-03 9.92109984e-01 -2.25803862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.61, Y:-63.26, Z:-22.58 [[ 9.58770731e-01 2.57592796e-01 1.20019318e-01 2.87608277e+02] [-2.55424218e-01 9.66252622e-01 -3.33817126e-02 -6.32598514e+01] [-1.24567870e-01 1.34956853e-03 9.92210172e-01 -2.25839465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-63.27, Z:-22.59 [[ 9.58438184e-01 2.58928757e-01 1.19800440e-01 2.87635515e+02] [-2.56779494e-01 9.65895719e-01 -3.33129434e-02 -6.32667422e+01] [-1.24340411e-01 1.16610059e-03 9.92238934e-01 -2.25883646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-63.27, Z:-22.59 [[ 9.58002467e-01 2.60614778e-01 1.19629474e-01 2.87661744e+02] [-2.58485473e-01 9.65442413e-01 -3.32596944e-02 -6.32735551e+01] [-1.24163336e-01 9.40388058e-04 9.92261347e-01 -2.25921593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.69, Y:-63.28, Z:-22.60 [[ 9.57546598e-01 2.62350404e-01 1.19485474e-01 2.87687479e+02] [-2.60241458e-01 9.64972422e-01 -3.32055580e-02 -6.32805220e+01] [-1.24011679e-01 7.00795056e-04 9.92280511e-01 -2.25957716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-63.29, Z:-22.60 [[ 9.56656803e-01 2.65529028e-01 1.19591373e-01 2.87714341e+02] [-2.63442398e-01 9.64102825e-01 -3.32241660e-02 -6.32866898e+01] [-1.24120361e-01 2.78686442e-04 9.92267131e-01 -2.25996664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:-63.29, Z:-22.60 [[ 9.56360059e-01 2.66708566e-01 1.19339757e-01 2.87741226e+02] [-2.64641025e-01 9.63777219e-01 -3.31451394e-02 -6.32941254e+01] [-1.23857032e-01 1.16491695e-04 9.92300067e-01 -2.26035002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-63.30, Z:-22.61 [[ 9.56068277e-01 2.67822611e-01 1.19182627e-01 2.87768186e+02] [-2.65770291e-01 9.63468239e-01 -3.30923649e-02 -6.33019691e+01] [-1.23691559e-01 -3.66412183e-05 9.92320713e-01 -2.26075265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93264 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.80, Y:-63.31, Z:-22.61 [[ 9.55725691e-01 2.68910797e-01 1.19479653e-01 2.87795286e+02] [-2.66857815e-01 9.63165068e-01 -3.31656244e-02 -6.33095766e+01] [-1.23997222e-01 -1.86839747e-04 9.92282547e-01 -2.26115285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:-63.32, Z:-22.61 [[ 9.55099459e-01 2.70731784e-01 1.20371614e-01 2.87821973e+02] [-2.68663467e-01 9.62654721e-01 -3.34040322e-02 -6.33153010e+01] [-1.24919836e-01 -4.35282247e-04 9.92166743e-01 -2.26149530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-63.32, Z:-22.62 [[ 9.54848549e-01 2.71600875e-01 1.20404374e-01 2.87848644e+02] [-2.69539694e-01 9.62409815e-01 -3.34021257e-02 -6.33216345e+01] [-1.24950398e-01 -5.59786797e-04 9.92162832e-01 -2.26186934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02264 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:287.88, Y:-63.33, Z:-22.62 [[ 9.54583239e-01 2.72484294e-01 1.20512034e-01 2.87875199e+02] [-2.70427365e-01 9.62159988e-01 -3.34245058e-02 -6.33282612e+01] [-1.25059510e-01 -6.83278646e-04 9.92149007e-01 -2.26224632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-63.34, Z:-22.63 [[ 9.54452164e-01 2.73002587e-01 1.20377134e-01 2.87901898e+02] [-2.70955561e-01 9.62012999e-01 -3.33777303e-02 -6.33351257e+01] [-1.24916575e-01 -7.59406968e-04 9.92166958e-01 -2.26265898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-63.34, Z:-22.63 [[ 9.54316024e-01 2.73803664e-01 1.19634778e-01 2.87927803e+02] [-2.71789312e-01 9.61785216e-01 -3.31627692e-02 -6.33416804e+01] [-1.24143049e-01 -8.67691984e-04 9.92263952e-01 -2.26308210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-63.35, Z:-22.64 [[ 9.54305038e-01 2.73973227e-01 1.19333843e-01 2.87954161e+02] [-2.71971714e-01 9.61736900e-01 -3.30684506e-02 -6.33491682e+01] [-1.23827630e-01 -8.98040765e-04 9.92303336e-01 -2.26352572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-63.36, Z:-22.64 [[ 9.54319379e-01 2.74028364e-01 1.19092311e-01 2.87980155e+02] [-2.72036523e-01 9.61721178e-01 -3.29925218e-02 -6.33570679e+01] [-1.23574484e-01 -9.12055198e-04 9.92334881e-01 -2.26392180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-63.36, Z:-22.64 [[ 9.54420478e-01 2.73804393e-01 1.18796906e-01 2.88007227e+02] [-2.71822063e-01 9.61784986e-01 -3.28999435e-02 -6.33647724e+01] [-1.23265230e-01 -8.91240364e-04 9.92373362e-01 -2.26434087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.03, Y:-63.37, Z:-22.65 [[ 9.54558154e-01 2.73389568e-01 1.18646009e-01 2.88033653e+02] [-2.71410222e-01 9.61903025e-01 -3.28490804e-02 -6.33722936e+01] [-1.23106551e-01 -8.45382059e-04 9.92393099e-01 -2.26470025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:-63.38, Z:-22.65 [[ 9.54869859e-01 2.72239430e-01 1.18782347e-01 2.88059524e+02] [-2.70247761e-01 9.62229283e-01 -3.28778639e-02 -6.33796099e+01] [-1.23246503e-01 -7.06581980e-04 9.92375836e-01 -2.26509631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:-63.39, Z:-22.65 [[ 9.55002628e-01 2.71618038e-01 1.19136988e-01 2.88086495e+02] [-2.69610939e-01 9.62404922e-01 -3.29652580e-02 -6.33876513e+01] [-1.23611983e-01 -6.38727264e-04 9.92330424e-01 -2.26547789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-63.40, Z:-22.66 [[ 9.55074799e-01 2.71233967e-01 1.19433088e-01 2.88112810e+02] [-2.69215004e-01 9.62513260e-01 -3.30379450e-02 -6.33960427e+01] [-1.23916943e-01 -5.99470498e-04 9.92292412e-01 -2.26584479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-63.40, Z:-22.66 [[ 9.54782868e-01 2.72027322e-01 1.19961709e-01 2.88138807e+02] [-2.69997780e-01 9.62289263e-01 -3.31748909e-02 -6.34048799e+01] [-1.24462341e-01 -7.14577740e-04 9.92224075e-01 -2.26613544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35264 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.17, Y:-63.41, Z:-22.66 [[ 9.54414961e-01 2.73457985e-01 1.19636167e-01 2.88165422e+02] [-2.71451832e-01 9.61883520e-01 -3.30756102e-02 -6.34123566e+01] [-1.24120847e-01 -9.07599396e-04 9.92266694e-01 -2.26643345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-63.42, Z:-22.67 [[ 9.53860836e-01 2.75386861e-01 1.19631026e-01 2.88191663e+02] [-2.73397128e-01 9.61332780e-01 -3.30650331e-02 -6.34192742e+01] [-1.24110902e-01 -1.16733880e-03 9.92267666e-01 -2.26684059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:-63.43, Z:-22.67 [[ 9.53156797e-01 2.77723108e-01 1.19841542e-01 2.88218198e+02] [-2.75746101e-01 9.60660018e-01 -3.31121926e-02 -6.34259926e+01] [-1.24322999e-01 -1.48472642e-03 9.92240690e-01 -2.26720574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-63.43, Z:-22.68 [[ 9.51671914e-01 2.82888520e-01 1.19560247e-01 2.88244431e+02] [-2.80962481e-01 9.59150358e-01 -3.30253799e-02 -6.34329440e+01] [-1.24018755e-01 -2.16261717e-03 9.92277517e-01 -2.26761000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-63.44, Z:-22.68 [[ 9.51035015e-01 2.85164660e-01 1.19220458e-01 2.88271318e+02] [-2.83268739e-01 9.58475379e-01 -3.29206619e-02 -6.34401740e+01] [-1.23657683e-01 -2.46272676e-03 9.92321879e-01 -2.26799424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-63.45, Z:-22.68 [[ 9.50410872e-01 2.87198480e-01 1.19315576e-01 2.88298307e+02] [-2.85316609e-01 9.57867180e-01 -3.29377880e-02 -6.34465986e+01] [-1.23748157e-01 -2.73828381e-03 9.92309879e-01 -2.26839849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:-63.45, Z:-22.69 [[ 9.49783335e-01 2.89165048e-01 1.19562500e-01 2.88324513e+02] [-2.87291994e-01 9.57274526e-01 -3.29968543e-02 -6.34528465e+01] [-1.23995673e-01 -3.00948683e-03 9.92278195e-01 -2.26880387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-63.46, Z:-22.69 [[ 9.49062478e-01 2.91547336e-01 1.19501314e-01 2.88351435e+02] [-2.89696152e-01 9.56550614e-01 -3.29706435e-02 -6.34578741e+01] [-1.23921558e-01 -3.32787011e-03 9.92286437e-01 -2.26922867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-63.46, Z:-22.70 [[ 9.48898972e-01 2.92011693e-01 1.19665834e-01 2.88378111e+02] [-2.90162297e-01 9.56408641e-01 -3.29902081e-02 -6.34634944e+01] [-1.24082964e-01 -3.41813867e-03 9.92265960e-01 -2.26960771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-63.47, Z:-22.70 [[ 9.48808952e-01 2.92260726e-01 1.19771619e-01 2.88404404e+02] [-2.90411357e-01 9.56332405e-01 -3.30087155e-02 -6.34685296e+01] [-1.24188632e-01 -3.46407367e-03 9.92252581e-01 -2.27002388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-63.47, Z:-22.71 [[ 9.48754911e-01 2.92308177e-01 1.20083506e-01 2.88432286e+02] [-2.90677748e-01 9.56309841e-01 -3.12719555e-02 -6.34741833e+01] [-1.23978087e-01 -5.23618166e-03 9.92271141e-01 -2.27055822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-63.48, Z:-22.71 [[ 9.48897187e-01 2.92460989e-01 1.18577813e-01 2.88459224e+02] [-2.90424532e-01 9.56275934e-01 -3.44953536e-02 -6.34778576e+01] [-1.23481654e-01 -1.70536177e-03 9.92345390e-01 -2.27085994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-63.48, Z:-22.71 [[ 9.49084523e-01 2.91625222e-01 1.19135627e-01 2.88486582e+02] [-2.89795683e-01 9.56526608e-01 -3.27919267e-02 -6.34845183e+01] [-1.23519350e-01 -3.40268023e-03 9.92336330e-01 -2.27125757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.51, Y:-63.49, Z:-22.72 [[ 9.49344253e-01 2.90824453e-01 1.19023642e-01 2.88513070e+02] [-2.88995288e-01 9.56770670e-01 -3.27354381e-02 -6.34893102e+01] [-1.23398595e-01 -3.32007173e-03 9.92351633e-01 -2.27155280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:-63.49, Z:-22.72 [[ 9.49549579e-01 2.89798375e-01 1.19885362e-01 2.88538963e+02] [-2.87936641e-01 9.57082278e-01 -3.29545859e-02 -6.34941124e+01] [-1.24290341e-01 -3.22737523e-03 9.92240644e-01 -2.27196634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-63.50, Z:-22.72 [[ 9.50307009e-01 2.86950809e-01 1.20730369e-01 2.88566845e+02] [-2.85040974e-01 9.57940976e-01 -3.31772503e-02 -6.34965184e+01] [-1.25172806e-01 -2.88452854e-03 9.92130762e-01 -2.27227231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.59, Y:-63.50, Z:-22.73 [[ 9.50850408e-01 2.85183455e-01 1.20639539e-01 2.88593174e+02] [-2.83265615e-01 9.58469218e-01 -3.31262639e-02 -6.35010198e+01] [-1.25076347e-01 -2.67491151e-03 9.92143514e-01 -2.27261768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:-63.51, Z:-22.73 [[ 9.51436049e-01 2.83309298e-01 1.20437892e-01 2.88620184e+02] [-2.81384115e-01 9.59025505e-01 -3.30614567e-02 -6.35066253e+01] [-1.24869629e-01 -2.43344801e-03 9.92170174e-01 -2.27306459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89264000000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.65, Y:-63.51, Z:-22.73 [[ 9.52133855e-01 2.80941805e-01 1.20469183e-01 2.88648653e+02] [-2.79081659e-01 9.59720790e-01 -3.23949639e-02 -6.35118177e+01] [-1.24717879e-01 -2.77639766e-03 9.92188360e-01 -2.27341838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.68, Y:-63.52, Z:-22.74 [[ 9.52181107e-01 2.80854793e-01 1.20298483e-01 2.88676003e+02] [-2.78912438e-01 9.59747991e-01 -3.30400633e-02 -6.35187152e+01] [-1.24735688e-01 -2.09261927e-03 9.92187799e-01 -2.27379456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.70, Y:-63.52, Z:-22.74 [[ 9.53560726e-01 2.76328859e-01 1.19851174e-01 2.88702504e+02] [-2.74286735e-01 9.61062732e-01 -3.35441850e-02 -6.35214838e+01] [-1.24453723e-01 -8.87169766e-04 9.92225017e-01 -2.27420819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-63.53, Z:-22.75 [[ 9.54330047e-01 2.73569966e-01 1.20056800e-01 2.88729248e+02] [-2.71590363e-01 9.61851315e-01 -3.28743345e-02 -6.35277987e+01] [-1.24470222e-01 -1.23330479e-03 9.92222577e-01 -2.27465134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-63.53, Z:-22.75 [[ 9.55137163e-01 2.70680746e-01 1.20187077e-01 2.88756090e+02] [-2.68675187e-01 9.62668781e-01 -3.29007784e-02 -6.35337586e+01] [-1.24605954e-01 -8.66529184e-04 9.92205929e-01 -2.27503656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-63.54, Z:-22.75 [[ 9.55883920e-01 2.67841988e-01 1.20609289e-01 2.88781914e+02] [-2.65800821e-01 9.63462720e-01 -3.30077338e-02 -6.35400441e+01] [-1.25043411e-01 -5.06486244e-04 9.92151142e-01 -2.27534338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07264000000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.81, Y:-63.54, Z:-22.76 [[ 9.57347521e-01 2.62595398e-01 1.20537881e-01 2.88809236e+02] [-2.60517372e-01 9.64906022e-01 -3.29707187e-02 -6.35448499e+01] [-1.24965687e-01 1.62223752e-04 9.92161051e-01 -2.27563927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-63.55, Z:-22.76 [[ 9.57922263e-01 2.60364328e-01 1.20811235e-01 2.88835179e+02] [-2.58260238e-01 9.65510341e-01 -3.30368262e-02 -6.35517076e+01] [-1.25246107e-01 4.45973173e-04 9.92125604e-01 -2.27612993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:-63.56, Z:-22.77 [[ 9.58452983e-01 2.58359316e-01 1.20906338e-01 2.88861903e+02] [-2.56238221e-01 9.66048646e-01 -3.30452487e-02 -6.35596683e+01] [-1.25338952e-01 6.91492302e-04 9.92113738e-01 -2.27655485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-63.57, Z:-22.77 [[ 9.58861870e-01 2.56809008e-01 1.20967139e-01 2.88887856e+02] [-2.54674637e-01 9.66461768e-01 -3.30526869e-02 -6.35675608e+01] [-1.25398342e-01 8.85699044e-04 9.92106079e-01 -2.27693626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-63.57, Z:-22.77 [[ 9.59434802e-01 2.54670766e-01 1.20944872e-01 2.88913565e+02] [-2.52521619e-01 9.67027129e-01 -3.30357969e-02 -6.35740306e+01] [-1.25370224e-01 1.15449832e-03 9.92109356e-01 -2.27732221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-63.58, Z:-22.78 [[ 9.59685347e-01 2.53781351e-01 1.20826575e-01 2.88940820e+02] [-2.51630754e-01 9.67260793e-01 -3.29927655e-02 -6.35807719e+01] [-1.25243758e-01 1.25899128e-03 9.92125202e-01 -2.27770345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.97, Y:-63.59, Z:-22.78 [[ 9.59930569e-01 2.52927956e-01 1.20667939e-01 2.88966551e+02] [-2.50777436e-01 9.67484160e-01 -3.29405192e-02 -6.35870236e+01] [-1.25075897e-01 1.35981510e-03 9.92146245e-01 -2.27810776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:-63.60, Z:-22.79 [[ 9.60151837e-01 2.52612660e-01 1.19562930e-01 2.88992797e+02] [-2.50500381e-01 9.67566507e-01 -3.26284073e-02 -6.35951100e+01] [-1.23927435e-01 1.37766580e-03 9.92290327e-01 -2.27856693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.02, Y:-63.60, Z:-22.79 [[ 9.60423723e-01 2.52058752e-01 1.18543903e-01 2.89018445e+02] [-2.49979362e-01 9.67710879e-01 -3.23415003e-02 -6.36023903e+01] [-1.22868183e-01 1.42801496e-03 9.92421972e-01 -2.27896625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-63.61, Z:-22.79 [[ 9.60648523e-01 2.51553770e-01 1.17792687e-01 2.89043624e+02] [-2.49498172e-01 9.67842203e-01 -3.21268172e-02 -6.36098430e+01] [-1.22086355e-01 1.47351947e-03 9.92518388e-01 -2.27935913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.07, Y:-63.62, Z:-22.80 [[ 9.60918225e-01 2.50683107e-01 1.17448475e-01 2.89069574e+02] [-2.48635101e-01 9.68067940e-01 -3.20164159e-02 -6.36181881e+01] [-1.21724078e-01 1.56334401e-03 9.92562746e-01 -2.27980727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-63.63, Z:-22.80 [[ 9.60816098e-01 2.51059094e-01 1.17480877e-01 2.89096124e+02] [-2.49013851e-01 9.67970588e-01 -3.20162931e-02 -6.36274424e+01] [-1.21756015e-01 1.50740424e-03 9.92558915e-01 -2.28018156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.12, Y:-63.64, Z:-22.80 [[ 9.60313712e-01 2.52403708e-01 1.18701064e-01 2.89121808e+02] [-2.50326949e-01 9.67621086e-01 -3.23396367e-02 -6.36364182e+01] [-1.23020297e-01 1.34212143e-03 9.92403247e-01 -2.28049537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-63.64, Z:-22.81 [[ 9.60006165e-01 2.53791958e-01 1.18227765e-01 2.89147446e+02] [-2.51743537e-01 9.67258146e-01 -3.22004844e-02 -6.36446028e+01] [-1.22528992e-01 1.14958789e-03 9.92464269e-01 -2.28081162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:289.17, Y:-63.65, Z:-22.81 [[ 9.59682035e-01 2.54941445e-01 1.18386031e-01 2.89173012e+02] [-2.52898091e-01 9.66955987e-01 -3.22284820e-02 -6.36505012e+01] [-1.22690457e-01 9.89494084e-04 9.92444494e-01 -2.28119580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-63.66, Z:-22.82 [[ 9.59331786e-01 2.56846031e-01 1.17100988e-01 2.89199121e+02] [-2.54862367e-01 9.66452061e-01 -3.18682687e-02 -6.36586572e+01] [-1.21357730e-01 7.27607964e-04 9.92608569e-01 -2.28161304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-63.67, Z:-22.82 [[ 9.59073099e-01 2.58025931e-01 1.16625080e-01 2.89224904e+02] [-2.56068187e-01 9.66137825e-01 -3.17298963e-02 -6.36663140e+01] [-1.20863037e-01 5.67317317e-04 9.92669031e-01 -2.28201217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-63.67, Z:-22.82 [[ 9.58418799e-01 2.60412812e-01 1.16698640e-01 2.89251275e+02] [-2.58471520e-01 9.65497334e-01 -3.17391137e-02 -6.36746195e+01] [-1.20937497e-01 2.56088467e-04 9.92660091e-01 -2.28242716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-63.68, Z:-22.83 [[ 9.58083251e-01 2.61394185e-01 1.17258536e-01 2.89278304e+02] [-2.59442567e-01 9.65232130e-01 -3.18824344e-02 -6.36817599e+01] [-1.21515590e-01 1.24170755e-04 9.92589515e-01 -2.28275410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:-63.69, Z:-22.83 [[ 9.57888074e-01 2.61915673e-01 1.17688646e-01 2.89305201e+02] [-2.59954700e-01 9.65090761e-01 -3.19902504e-02 -6.36894304e+01] [-1.21958973e-01 4.93626601e-05 9.92535141e-01 -2.28306300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-63.70, Z:-22.83 [[ 9.57820898e-01 2.61966547e-01 1.18121363e-01 2.89330358e+02] [-2.59992493e-01 9.65076954e-01 -3.20994770e-02 -6.36978453e+01] [-1.22405194e-01 3.48822761e-05 9.92480210e-01 -2.28345609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-63.71, Z:-22.84 [[ 9.57919485e-01 2.61010976e-01 1.19430027e-01 2.89355955e+02] [-2.58987514e-01 9.65335823e-01 -3.24378959e-02 -6.37078070e+01] [-1.23756730e-01 1.42006710e-04 9.92312578e-01 -2.28377755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.38, Y:-63.72, Z:-22.84 [[ 9.58166237e-01 2.60006863e-01 1.19640684e-01 2.89382751e+02] [-2.57969572e-01 9.65606732e-01 -3.24859706e-02 -6.37159148e+01] [-1.23972426e-01 2.63304067e-04 9.92285628e-01 -2.28411513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264000000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:289.41, Y:-63.72, Z:-22.84 [[ 9.58521081e-01 2.58521928e-01 1.20015625e-01 2.89408373e+02] [-2.56461329e-01 9.66005286e-01 -3.25787486e-02 -6.37233913e+01] [-1.24358049e-01 4.48050728e-04 9.92237308e-01 -2.28448283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:289.44, Y:-63.73, Z:-22.85 [[ 9.58997508e-01 2.56937463e-01 1.19611540e-01 2.89435228e+02] [-2.54879821e-01 9.66427819e-01 -3.24583913e-02 -6.37319143e+01] [-1.23935697e-01 6.40948303e-04 9.92290044e-01 -2.28482270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264000000004 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:289.46, Y:-63.74, Z:-22.85 [[ 9.59478887e-01 2.55213209e-01 1.19442383e-01 2.89460682e+02] [-2.53149200e-01 9.66884424e-01 -3.24036051e-02 -6.37413482e+01] [-1.23756808e-01 8.53831291e-04 9.92312211e-01 -2.28524339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:289.49, Y:-63.75, Z:-22.86 [[ 9.60474433e-01 2.52438226e-01 1.17319246e-01 2.89486409e+02] [-2.50427842e-01 9.67612293e-01 -3.18173859e-02 -6.37537386e+01] [-1.21551469e-01 1.17978015e-03 9.92584429e-01 -2.28566098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:289.51, Y:-63.76, Z:-22.86 [[ 9.60600464e-01 2.51511271e-01 1.18274382e-01 2.89512605e+02] [-2.49461987e-01 9.67853498e-01 -3.20674981e-02 -6.37617516e+01] [-1.22537612e-01 1.29909120e-03 9.92463020e-01 -2.28621346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91264 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:289.54, Y:-63.78, Z:-22.86 [[ 9.61513015e-01 2.46493434e-01 1.21382491e-01 2.89535638e+02] [-2.47692064e-01 9.68824029e-01 -5.35182652e-03 -6.37838733e+01] [-1.18917464e-01 -2.49196289e-02 9.92591381e-01 -2.28557027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:289.57, Y:-63.76, Z:-22.86 [[ 9.61185303e-01 2.53549492e-01 1.08790937e-01 2.89570889e+02] [-2.48637319e-01 9.66930421e-01 -5.67894748e-02 -6.37645313e+01] [-1.19592209e-01 2.75357217e-02 9.92441176e-01 -2.28628152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:289.59, Y:-63.80, Z:-22.86 [[ 9.61421393e-01 2.46258107e-01 1.22579970e-01 2.89589043e+02] [-2.47192163e-01 9.68935330e-01 -7.76918550e-03 -6.38028552e+01] [-1.20685289e-01 -2.28313469e-02 9.92428229e-01 -2.28642498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:289.62, Y:-63.79, Z:-22.87 [[ 9.61072390e-01 2.53417153e-01 1.10089089e-01 2.89624554e+02] [-2.48686576e-01 9.67021624e-01 -5.49924116e-02 -6.37863461e+01] [-1.20394550e-01 2.54740098e-02 9.92399228e-01 -2.28691027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.64, Y:-63.83, Z:-22.87 [[ 9.61579871e-01 2.44598273e-01 1.24642839e-01 2.89639990e+02] [-2.47441667e-01 9.68872794e-01 7.62429735e-03 -6.38286873e+01] [-1.18898166e-01 -3.81732028e-02 9.92172381e-01 -2.28676584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:289.68, Y:-63.80, Z:-22.88 [[ 9.60668479e-01 2.57495846e-01 1.03980590e-01 2.89680421e+02] [-2.51351811e-01 9.65459644e-01 -6.86290188e-02 -6.37984728e+01] [-1.18060751e-01 3.97940254e-02 9.92208695e-01 -2.28750928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09264 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:289.70, Y:-63.83, Z:-22.89 [[ 9.60104769e-01 2.54150588e-01 1.16646094e-01 2.89698640e+02] [-2.52185094e-01 9.67164256e-01 -3.15591629e-02 -6.38279171e+01] [-1.20836713e-01 8.83696688e-04 9.92672004e-01 -2.28877987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:289.72, Y:-63.83, Z:-22.89 [[ 9.60259181e-01 2.54796744e-01 1.13933859e-01 2.89724538e+02] [-2.52927612e-01 9.66994323e-01 -3.08156255e-02 -6.38349863e+01] [-1.18025116e-01 7.73968343e-04 9.93010309e-01 -2.28873338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15264 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:289.75, Y:-63.84, Z:-22.89 [[ 9.59979615e-01 2.56017032e-01 1.13553591e-01 2.89750736e+02] [-2.54170097e-01 9.66672077e-01 -3.07027183e-02 -6.38433959e+01] [-1.17629504e-01 6.12056425e-04 9.93057362e-01 -2.28906672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:289.78, Y:-63.85, Z:-22.89 [[ 9.59611512e-01 2.57246243e-01 1.13886418e-01 2.89777178e+02] [-2.55398078e-01 9.66345779e-01 -3.07840541e-02 -6.38525247e+01] [-1.17972742e-01 4.54360472e-04 9.93016730e-01 -2.28944539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21264 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:289.80, Y:-63.86, Z:-22.90 [[ 9.59356415e-01 2.58462513e-01 1.13280175e-01 2.89803720e+02] [-2.56643279e-01 9.66021243e-01 -3.06134913e-02 -6.38606369e+01] [-1.17343495e-01 2.96653689e-04 9.93091343e-01 -2.28971518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.82, Y:-63.89, Z:-22.89 [[ 9.58877815e-01 2.56049101e-01 1.22442610e-01 2.89823962e+02] [-2.58492943e-01 9.66003856e-01 4.23651005e-03 -6.38859335e+01] [-1.17195279e-01 -3.57128462e-02 9.92466553e-01 -2.28935595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-63.88, Z:-22.89 [[ 9.58714311e-01 2.60683729e-01 1.13625978e-01 2.89856222e+02] [-2.59812204e-01 9.65392891e-01 -2.26756280e-02 -6.38775766e+01] [-1.15604879e-01 -7.78196673e-03 9.93264795e-01 -2.28885385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:289.89, Y:-63.86, Z:-22.90 [[ 9.57607552e-01 2.69059002e-01 1.02932158e-01 2.89891966e+02] [-2.62529922e-01 9.62181416e-01 -7.26977465e-02 -6.38605306e+01] [-1.18599393e-01 4.25931396e-02 9.92028230e-01 -2.29029976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:289.91, Y:-63.91, Z:-22.90 [[ 9.57725107e-01 2.59868246e-01 1.23414399e-01 2.89905250e+02] [-2.62195387e-01 9.65010981e-01 2.71762608e-03 -6.39077850e+01] [-1.18390025e-01 -3.49614247e-02 9.92351501e-01 -2.29034273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:289.94, Y:-63.90, Z:-22.90 [[ 9.57352463e-01 2.64815279e-01 1.15538437e-01 2.89938010e+02] [-2.63555424e-01 9.64284893e-01 -2.63283672e-02 -6.38981392e+01] [-1.18384124e-01 -5.24525466e-03 9.92954020e-01 -2.29015449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39264000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-63.90, Z:-22.91 [[ 9.56837000e-01 2.66923935e-01 1.14954638e-01 2.89967264e+02] [-2.64271232e-01 9.63698963e-01 -3.80134899e-02 -6.38993879e+01] [-1.20928375e-01 5.99350991e-03 9.92643141e-01 -2.29113708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-63.91, Z:-22.91 [[ 9.57169326e-01 2.64657616e-01 1.17401991e-01 2.89991724e+02] [-2.64082927e-01 9.64277618e-01 -2.07095120e-02 -6.39147660e+01] [-1.18689042e-01 -1.11813517e-02 9.92868515e-01 -2.29100434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.02, Y:-63.92, Z:-22.91 [[ 9.57431503e-01 2.64671811e-01 1.15211757e-01 2.90020903e+02] [-2.63330776e-01 9.64328046e-01 -2.69874271e-02 -6.39157941e+01] [-1.18244740e-01 -4.50018858e-03 9.92974285e-01 -2.29109199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-63.92, Z:-22.91 [[ 9.57835885e-01 2.63828882e-01 1.13774948e-01 2.90047423e+02] [-2.62081908e-01 9.64569188e-01 -3.03208609e-02 -6.39209216e+01] [-1.17743328e-01 -7.75946736e-04 9.93043759e-01 -2.29142385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:290.08, Y:-63.93, Z:-22.92 [[ 9.58244959e-01 2.62782012e-01 1.12748454e-01 2.90076721e+02] [-2.60025222e-01 9.64823487e-01 -3.87623800e-02 -6.39258970e+01] [-1.18968413e-01 7.82641338e-03 9.92867194e-01 -2.29235020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-63.94, Z:-22.93 [[ 9.59071519e-01 2.58460894e-01 1.15671035e-01 2.90099899e+02] [-2.57199051e-01 9.66009556e-01 -2.59650909e-02 -6.39415384e+01] [-1.18450285e-01 -4.84810121e-03 9.92948149e-01 -2.29272401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.13, Y:-63.95, Z:-22.93 [[ 9.60573043e-01 2.53332237e-01 1.14552200e-01 2.90127406e+02] [-2.51654761e-01 9.67378955e-01 -2.91176824e-02 -6.39486174e+01] [-1.18191835e-01 -8.57945591e-04 9.92990410e-01 -2.29287543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-63.95, Z:-22.93 [[ 9.61041395e-01 2.51893320e-01 1.13794518e-01 2.90156406e+02] [-2.49341081e-01 9.67732666e-01 -3.63663720e-02 -6.39527584e+01] [-1.19283118e-01 6.57594082e-03 9.92838504e-01 -2.29346180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63264000000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.18, Y:-63.97, Z:-22.93 [[ 9.61838936e-01 2.47734250e-01 1.16161965e-01 2.90180107e+02] [-2.46609029e-01 9.68813091e-01 -2.41905216e-02 -6.39655670e+01] [-1.18532053e-01 -5.37920390e-03 9.92935656e-01 -2.29347575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-63.97, Z:-22.94 [[ 9.62274434e-01 2.47206262e-01 1.13652884e-01 2.90208645e+02] [-2.45212765e-01 9.68959992e-01 -3.14202625e-02 -6.39697797e+01] [-1.17892383e-01 2.36577739e-03 9.93023559e-01 -2.29369102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69264 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:290.24, Y:-63.98, Z:-22.95 [[ 9.62494414e-01 2.46176799e-01 1.14024065e-01 2.90236393e+02] [-2.43561382e-01 9.69196655e-01 -3.65471978e-02 -6.39760392e+01] [-1.19508814e-01 7.40461484e-03 9.92805527e-01 -2.29461530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.26, Y:-64.00, Z:-22.95 [[ 9.63336680e-01 2.41146093e-01 1.17605285e-01 2.90258340e+02] [-2.40544503e-01 9.70442263e-01 -1.94975737e-02 -6.39951691e+01] [-1.18830903e-01 -9.50657695e-03 9.92868995e-01 -2.29464757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:-64.00, Z:-22.95 [[ 9.63563191e-01 2.41387638e-01 1.15230140e-01 2.90287792e+02] [-2.39704936e-01 9.70428754e-01 -2.84530763e-02 -6.39992071e+01] [-1.18690862e-01 -2.04896330e-04 9.92931235e-01 -2.29487118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.31, Y:-64.01, Z:-22.95 [[ 9.63599332e-01 2.41662519e-01 1.14348388e-01 2.90314802e+02] [-2.39541262e-01 9.70353723e-01 -3.21502115e-02 -6.40056205e+01] [-1.18727885e-01 3.58876519e-03 9.92920344e-01 -2.29522795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.34, Y:-64.01, Z:-22.96 [[ 9.63549619e-01 2.41380856e-01 1.15357766e-01 2.90341200e+02] [-2.39506433e-01 9.70429553e-01 -3.00524615e-02 -6.40140564e+01] [-1.19200674e-01 1.32811078e-03 9.92869294e-01 -2.29571162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.37, Y:-64.02, Z:-22.96 [[ 9.63442949e-01 2.41370613e-01 1.16266555e-01 2.90367590e+02] [-2.39585328e-01 9.70432937e-01 -2.93050505e-02 -6.40226656e+01] [-1.19902273e-01 3.77983419e-04 9.92785627e-01 -2.29618213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.40, Y:-64.03, Z:-22.97 [[ 9.63249192e-01 2.43068169e-01 1.14319115e-01 2.90396381e+02] [-2.40861846e-01 9.70000122e-01 -3.29444049e-02 -6.40302785e+01] [-1.18897291e-01 4.19855846e-03 9.92897682e-01 -2.29653528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.42, Y:-64.04, Z:-22.97 [[ 9.62919953e-01 2.43042468e-01 1.17113294e-01 2.90419759e+02] [-2.41793129e-01 9.70006272e-01 -2.49782877e-02 -6.40422919e+01] [-1.19671414e-01 -4.26509809e-03 9.92804392e-01 -2.29698449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.45, Y:-64.05, Z:-22.97 [[ 9.62652759e-01 2.44825792e-01 1.15585454e-01 2.90449462e+02] [-2.42857846e-01 9.69565410e-01 -3.10319650e-02 -6.40478408e+01] [-1.19665083e-01 1.80217238e-03 9.92812681e-01 -2.29736455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-64.04, Z:-22.98 [[ 9.62437282e-01 2.52496440e-01 9.97999252e-02 2.90485614e+02] [-2.46078548e-01 9.66549802e-01 -7.22968059e-02 -6.40369388e+01] [-1.14716284e-01 4.50225208e-02 9.92377522e-01 -2.29801893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:290.50, Y:-64.09, Z:-22.99 [[ 9.61595494e-01 2.42838517e-01 1.27920131e-01 2.90495664e+02] [-2.45579686e-01 9.69358643e-01 5.86853597e-03 -6.40886267e+01] [-1.22575378e-01 -3.70577433e-02 9.91767110e-01 -2.29898485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.53, Y:-64.07, Z:-22.99 [[ 9.61349970e-01 2.51716844e-01 1.11556560e-01 2.90534356e+02] [-2.47308490e-01 9.67542473e-01 -5.19622376e-02 -6.40661906e+01] [-1.21015480e-01 2.23650113e-02 9.92398640e-01 -2.29931677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.55, Y:-64.10, Z:-23.00 [[ 9.61155381e-01 2.46598187e-01 1.23974461e-01 2.90552371e+02] [-2.47158460e-01 9.68911674e-01 -1.10843722e-02 -6.40959395e+01] [-1.22853688e-01 -1.99875327e-02 9.92223498e-01 -2.29955743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.58, Y:-64.10, Z:-23.00 [[ 9.60839571e-01 2.49606651e-01 1.20348820e-01 2.90581731e+02] [-2.48019602e-01 9.68343492e-01 -2.82339948e-02 -6.40958000e+01] [-1.23586390e-01 -2.72052698e-03 9.92330088e-01 -2.29963330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.62, Y:-64.08, Z:-23.00 [[ 9.61311803e-01 2.54860997e-01 1.04525072e-01 2.90619925e+02] [-2.48608540e-01 9.66125960e-01 -6.92417717e-02 -6.40834203e+01] [-1.18631412e-01 4.05771068e-02 9.92108909e-01 -2.30009799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264000000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.63, Y:-64.13, Z:-23.01 [[ 9.61128494e-01 2.44257538e-01 1.28725577e-01 2.90631303e+02] [-2.46900584e-01 9.69029210e-01 4.74263178e-03 -6.41325917e+01] [-1.23580420e-01 -3.63406986e-02 9.91668913e-01 -2.30088098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.67, Y:-64.10, Z:-23.01 [[ 9.61615910e-01 2.53778066e-01 1.04362519e-01 2.90674435e+02] [-2.47881594e-01 9.66521723e-01 -6.62606564e-02 -6.41049404e+01] [-1.17684143e-01 3.78477537e-02 9.92329577e-01 -2.30100566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.69, Y:-64.15, Z:-23.02 [[ 9.61266271e-01 2.44024016e-01 1.28138347e-01 2.90685736e+02] [-2.46472941e-01 9.69143816e-01 3.36947533e-03 -6.41536915e+01] [-1.23362253e-01 -3.48215982e-02 9.91750579e-01 -2.30170197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.72, Y:-64.15, Z:-23.02 [[ 9.61091105e-01 2.48992935e-01 1.19609389e-01 2.90718650e+02] [-2.47433041e-01 9.68501474e-01 -2.79604252e-02 -6.41454809e+01] [-1.22803818e-01 -2.72279887e-03 9.92427231e-01 -2.30169114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264000000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:290.74, Y:-64.15, Z:-23.02 [[ 9.60817962e-01 2.50300939e-01 1.19072602e-01 2.90744973e+02] [-2.48287023e-01 9.68167672e-01 -3.17003738e-02 -6.41527269e+01] [-1.23216877e-01 8.94106700e-04 9.92379364e-01 -2.30219996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.77, Y:-64.16, Z:-23.03 [[ 9.60465699e-01 2.52022998e-01 1.18279536e-01 2.90773201e+02] [-2.50024851e-01 9.67720864e-01 -3.16844340e-02 -6.41631239e+01] [-1.22446781e-01 8.58988692e-04 9.92474709e-01 -2.30261085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264000000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:290.80, Y:-64.17, Z:-23.03 [[ 9.60162968e-01 2.53265389e-01 1.18083521e-01 2.90799691e+02] [-2.51225483e-01 9.67396147e-01 -3.21006376e-02 -6.41710972e+01] [-1.22363523e-01 1.15625397e-03 9.92484676e-01 -2.30314920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.83, Y:-64.18, Z:-23.04 [[ 9.59787270e-01 2.54488938e-01 1.18506444e-01 2.90826733e+02] [-2.52563030e-01 9.67075683e-01 -3.12496261e-02 -6.41799407e+01] [-1.22557385e-01 6.26466527e-05 9.92461427e-01 -2.30354025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-64.19, Z:-23.04 [[ 9.59323283e-01 2.55539498e-01 1.19993348e-01 2.90852393e+02] [-2.53880405e-01 9.66795452e-01 -2.91769554e-02 -6.41902243e+01] [-1.23464887e-01 -2.47382707e-03 9.92345858e-01 -2.30403192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.88, Y:-64.20, Z:-23.04 [[ 9.58862990e-01 2.57386254e-01 1.19725032e-01 2.90879132e+02] [-2.55343656e-01 9.66308492e-01 -3.23653360e-02 -6.41977070e+01] [-1.24021708e-01 4.62895425e-04 9.92279397e-01 -2.30446351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.92, Y:-64.19, Z:-23.05 [[ 9.59340251e-01 2.62256902e-01 1.04343662e-01 2.90916981e+02] [-2.56515412e-01 9.64329846e-01 -6.53283394e-02 -6.41896170e+01] [-1.17754515e-01 3.59063481e-02 9.92393374e-01 -2.30486872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.93, Y:-64.23, Z:-23.06 [[ 9.58350782e-01 2.55100436e-01 1.28403838e-01 2.90928922e+02] [-2.57162142e-01 9.66368119e-01 -5.40393250e-04 -6.42346463e+01] [-1.24223230e-01 -3.25027197e-02 9.91721817e-01 -2.30582378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:290.97, Y:-64.21, Z:-23.06 [[ 9.58726626e-01 2.63849475e-01 1.05956178e-01 2.90970649e+02] [-2.58516420e-01 9.64046960e-01 -6.15038164e-02 -6.42101551e+01] [-1.18374481e-01 3.15739346e-02 9.92466911e-01 -2.30574880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.99, Y:-64.23, Z:-23.06 [[ 9.58969142e-01 2.59621040e-01 1.13908301e-01 2.90992127e+02] [-2.57784913e-01 9.65710556e-01 -3.08230590e-02 -6.42345239e+01] [-1.18004763e-01 1.94520965e-04 9.93013010e-01 -2.30636416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.02, Y:-64.24, Z:-23.07 [[ 9.58756902e-01 2.60170572e-01 1.14439839e-01 2.91018634e+02] [-2.58322029e-01 9.65562664e-01 -3.09591766e-02 -6.42429139e+01] [-1.18553502e-01 1.19992888e-04 9.92947659e-01 -2.30672095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.05, Y:-64.25, Z:-23.07 [[ 9.58666593e-01 2.60261882e-01 1.14987464e-01 2.91046347e+02] [-2.58397156e-01 9.65538059e-01 -3.10993145e-02 -6.42510059e+01] [-1.19118739e-01 1.01440187e-04 9.92880011e-01 -2.30706077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:291.06, Y:-64.28, Z:-23.08 [[ 9.57783679e-01 2.55991331e-01 1.30839070e-01 2.91063330e+02] [-2.58199934e-01 9.66091500e-01 -8.68781055e-05 -6.42755734e+01] [-1.26424753e-01 -3.36994288e-02 9.91403616e-01 -2.30768067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65264 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:291.11, Y:-64.25, Z:-23.08 [[ 9.58656414e-01 2.64056247e-01 1.06076281e-01 2.91106108e+02] [-2.58607137e-01 9.63961650e-01 -6.24522719e-02 -6.42500966e+01] [-1.18744379e-01 3.24381878e-02 9.92394849e-01 -2.30753893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:291.12, Y:-64.29, Z:-23.08 [[ 9.58548515e-01 2.54259641e-01 1.28595413e-01 2.91119278e+02] [-2.56180678e-01 9.66627500e-01 -1.65443261e-03 -6.42929217e+01] [-1.24724518e-01 -3.13578062e-02 9.91695761e-01 -2.30841334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-64.27, Z:-23.09 [[ 9.59297603e-01 2.61642925e-01 1.06259537e-01 2.91161400e+02] [-2.56410822e-01 9.64674257e-01 -6.04737041e-02 -6.42712179e+01] [-1.18328357e-01 3.07661842e-02 9.92497779e-01 -2.30851473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.18, Y:-64.30, Z:-23.09 [[ 9.59772367e-01 2.56783142e-01 1.13575619e-01 2.91183656e+02] [-2.54941894e-01 9.66468912e-01 -3.06997102e-02 -6.42965757e+01] [-1.17650473e-01 5.09550012e-04 9.93054936e-01 -2.30907778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77264 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:291.21, Y:-64.31, Z:-23.10 [[ 9.59920003e-01 2.56383045e-01 1.13231279e-01 2.91211772e+02] [-2.54550778e-01 9.66575103e-01 -3.06018308e-02 -6.43063699e+01] [-1.17292326e-01 5.52199311e-04 9.93097279e-01 -2.30955897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.24, Y:-64.32, Z:-23.10 [[ 9.59982903e-01 2.56330571e-01 1.12816062e-01 2.91239680e+02] [-2.54511748e-01 9.66589019e-01 -3.04866913e-02 -6.43171352e+01] [-1.16861438e-01 5.53689252e-04 9.93148074e-01 -2.30984085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-64.33, Z:-23.10 [[ 9.59931485e-01 2.56631231e-01 1.12569782e-01 2.91266856e+02] [-2.54822730e-01 9.66509259e-01 -3.04175668e-02 -6.43261780e+01] [-1.16605834e-01 5.13440842e-04 9.93178139e-01 -2.31018390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:291.29, Y:-64.33, Z:-23.11 [[ 9.59627602e-01 2.57398002e-01 1.13406938e-01 2.91292734e+02] [-2.55568187e-01 9.66305383e-01 -3.06399954e-02 -6.43348739e+01] [-1.17472408e-01 4.19779688e-04 9.93076058e-01 -2.31057064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89264000000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.32, Y:-64.34, Z:-23.11 [[ 9.59568957e-01 2.57995614e-01 1.12541900e-01 2.91320855e+02] [-2.56198780e-01 9.66146030e-01 -3.03979358e-02 -6.43438633e+01] [-1.16574444e-01 3.35817953e-04 9.93181900e-01 -2.31096587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.35, Y:-64.35, Z:-23.11 [[ 9.59088441e-01 2.59638372e-01 1.12859554e-01 2.91349027e+02] [-2.57843023e-01 9.65705907e-01 -3.04807698e-02 -6.43530292e+01] [-1.16903115e-01 1.33705505e-04 9.93143315e-01 -2.31136058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.38, Y:-64.36, Z:-23.12 [[ 9.58194001e-01 2.62942116e-01 1.12808242e-01 2.91375302e+02] [-2.61171404e-01 9.64811572e-01 -3.04651883e-02 -6.43626447e+01] [-1.16849278e-01 -2.70726146e-04 9.93149623e-01 -2.31175749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.40, Y:-64.37, Z:-23.12 [[ 9.57874669e-01 2.64463657e-01 1.11960226e-01 2.91402756e+02] [-2.62730812e-01 9.64395543e-01 -3.02284277e-02 -6.43709984e+01] [-1.15968263e-01 -4.60355977e-04 9.93252813e-01 -2.31215803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.43, Y:-64.38, Z:-23.13 [[ 9.57267372e-01 2.66623054e-01 1.12032698e-01 2.91429003e+02] [-2.64903328e-01 9.63800611e-01 -3.02425070e-02 -6.43788380e+01] [-1.16040533e-01 -7.27669380e-04 9.93244212e-01 -2.31250544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.46, Y:-64.39, Z:-23.13 [[ 9.56247278e-01 2.70467354e-01 1.11528266e-01 2.91455289e+02] [-2.68790004e-01 9.62728405e-01 -3.00990502e-02 -6.43869642e+01] [-1.15512240e-01 -1.19554826e-03 9.93305337e-01 -2.31278456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07264000000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.48, Y:-64.39, Z:-23.13 [[ 9.55661786e-01 2.72571738e-01 1.11423508e-01 2.91482891e+02] [-2.70912663e-01 9.62134361e-01 -3.00632775e-02 -6.43946317e+01] [-1.15398785e-01 -1.45571375e-03 9.93318177e-01 -2.31316931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.51, Y:-64.40, Z:-23.14 [[ 9.55156329e-01 2.74523711e-01 1.10964498e-01 2.91510089e+02] [-2.72892002e-01 9.61578847e-01 -2.99345330e-02 -6.44019173e+01] [-1.14918853e-01 -1.68916555e-03 9.93373446e-01 -2.31352745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13264000000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.54, Y:-64.41, Z:-23.14 [[ 9.54661108e-01 2.76286221e-01 1.10851671e-01 2.91536570e+02] [-2.74670667e-01 9.61073506e-01 -2.98954811e-02 -6.44093281e+01] [-1.14796314e-01 -1.90764931e-03 9.93387219e-01 -2.31392487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.56, Y:-64.42, Z:-23.14 [[ 9.54389537e-01 2.77427933e-01 1.10337456e-01 2.91563876e+02] [-2.75836060e-01 9.60744275e-01 -2.97473739e-02 -6.44169763e+01] [-1.14258831e-01 -2.04446669e-03 9.93448911e-01 -2.31428905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.59, Y:-64.43, Z:-23.15 [[ 9.54036005e-01 2.78153543e-01 1.11561232e-01 2.91590154e+02] [-2.76531653e-01 9.60534194e-01 -3.00717031e-02 -6.44250118e+01] [-1.15522929e-01 -2.16072436e-03 9.93302464e-01 -2.31462802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.62, Y:-64.43, Z:-23.15 [[ 9.54058095e-01 2.77874941e-01 1.12065467e-01 2.91617778e+02] [-2.76237312e-01 9.60614865e-01 -3.01998111e-02 -6.44324777e+01] [-1.16043524e-01 -2.14428906e-03 9.93241815e-01 -2.31502206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.65, Y:-64.44, Z:-23.15 [[ 9.54181305e-01 2.77358948e-01 1.12294489e-01 2.91645047e+02] [-2.75711746e-01 9.60764091e-01 -3.02554864e-02 -6.44396827e+01] [-1.16280142e-01 -2.09168996e-03 9.93214254e-01 -2.31539581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.67, Y:-64.45, Z:-23.16 [[ 9.54796840e-01 2.75137271e-01 1.12527668e-01 2.91671617e+02] [-2.73468487e-01 9.61403210e-01 -3.03126170e-02 -6.44466982e+01] [-1.16524592e-01 -1.83038017e-03 9.93186120e-01 -2.31579633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.70, Y:-64.45, Z:-23.16 [[ 9.55248267e-01 2.73540837e-01 1.12588451e-01 2.91697802e+02] [-2.71860089e-01 9.61858986e-01 -3.03213426e-02 -6.44539228e+01] [-1.16588338e-01 -1.64389628e-03 9.93178965e-01 -2.31621533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34264 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:291.73, Y:-64.46, Z:-23.17 [[ 9.55836518e-01 2.71606923e-01 1.12277474e-01 2.91725201e+02] [-2.69923065e-01 9.62407236e-01 -3.02299778e-02 -6.44618454e+01] [-1.16267325e-01 -1.41136326e-03 9.93216954e-01 -2.31672406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37264 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.75, Y:-64.47, Z:-23.17 [[ 9.56437222e-01 2.69826127e-01 1.11452689e-01 2.91752186e+02] [-2.68155601e-01 9.62908325e-01 -3.00022021e-02 -6.44700732e+01] [-1.15414100e-01 -1.19143992e-03 9.93316750e-01 -2.31705232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40264 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-64.48, Z:-23.17 [[ 9.57517424e-01 2.66053689e-01 1.11246647e-01 2.91779428e+02] [-2.64364606e-01 9.63957928e-01 -2.99410932e-02 -6.44786477e+01] [-1.15203026e-01 -7.40557520e-04 9.93341691e-01 -2.31747448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.81, Y:-64.49, Z:-23.18 [[ 9.57868266e-01 2.64728441e-01 1.11387782e-01 2.91807779e+02] [-2.63026911e-01 9.64322823e-01 -2.99722824e-02 -6.44859687e+01] [-1.15348296e-01 -5.88486120e-04 9.93324934e-01 -2.31786435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.83, Y:-64.49, Z:-23.18 [[ 9.58200969e-01 2.63521718e-01 1.11387646e-01 2.91834925e+02] [-2.61812399e-01 9.64653360e-01 -2.99693589e-02 -6.44928766e+01] [-1.15348044e-01 -4.45998038e-04 9.93325037e-01 -2.31821601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.86, Y:-64.50, Z:-23.19 [[ 9.58524172e-01 2.62224288e-01 1.11668412e-01 2.91862765e+02] [-2.60497923e-01 9.65006910e-01 -3.00415656e-02 -6.45008243e+01] [-1.15638418e-01 -2.93822665e-04 9.93291332e-01 -2.31864571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52264 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.89, Y:-64.51, Z:-23.19 [[ 9.58808115e-01 2.60892798e-01 1.12347437e-01 2.91891032e+02] [-2.59136592e-01 9.65367769e-01 -3.02208159e-02 -6.45096863e+01] [-1.16340988e-01 -1.37368456e-04 9.93209321e-01 -2.31906887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.92, Y:-64.52, Z:-23.19 [[ 9.59485561e-01 2.57768200e-01 1.13767366e-01 2.91919158e+02] [-2.55945395e-01 9.66206756e-01 -3.06016216e-02 -6.45196606e+01] [-1.17810922e-01 2.43580718e-04 9.93036015e-01 -2.31947786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58264 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:291.95, Y:-64.53, Z:-23.20 [[ 9.59931293e-01 2.55916641e-01 1.14186629e-01 2.91947193e+02] [-2.54067664e-01 9.66698739e-01 -3.07110661e-02 -6.45284250e+01] [-1.18243543e-01 4.69383416e-04 9.92984514e-01 -2.31988251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61264 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.98, Y:-64.54, Z:-23.20 [[ 9.60430765e-01 2.53852996e-01 1.14592331e-01 2.91976756e+02] [-2.51976473e-01 9.67242541e-01 -3.08175953e-02 -6.45381319e+01] [-1.18661716e-01 7.23595170e-04 9.92934476e-01 -2.32031381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264000000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.01, Y:-64.55, Z:-23.21 [[ 9.60771347e-01 2.52051932e-01 1.15707571e-01 2.92006027e+02] [-2.50125440e-01 9.67713237e-01 -3.11184025e-02 -6.45476000e+01] [-1.19815201e-01 9.56262396e-04 9.92795751e-01 -2.32074426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67264 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:292.04, Y:-64.56, Z:-23.21 [[ 9.61388092e-01 2.49516828e-01 1.16078804e-01 2.92035069e+02] [-2.47558221e-01 9.68369608e-01 -3.12286723e-02 -6.45588225e+01] [-1.20199266e-01 1.28661135e-03 9.92748952e-01 -2.32111025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264000000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:292.07, Y:-64.57, Z:-23.22 [[ 9.61641773e-01 2.48899826e-01 1.15299506e-01 2.92066440e+02] [-2.46961007e-01 9.68528263e-01 -3.10365199e-02 -6.45696115e+01] [-1.19395815e-01 1.37153192e-03 9.92845788e-01 -2.32161132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73264 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:292.10, Y:-64.58, Z:-23.22 [[ 9.61621099e-01 2.48982810e-01 1.15292769e-01 2.92098404e+02] [-2.47041588e-01 9.68506910e-01 -3.10615231e-02 -6.45783539e+01] [-1.19395629e-01 1.38730715e-03 9.92845788e-01 -2.32210929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264000000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.13, Y:-64.59, Z:-23.23 [[ 9.61576307e-01 2.48945449e-01 1.15746145e-01 2.92128992e+02] [-2.46987729e-01 9.68516490e-01 -3.11908816e-02 -6.45889063e+01] [-1.19866878e-01 1.40453509e-03 9.92788980e-01 -2.32263168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79264 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.16, Y:-64.60, Z:-23.23 [[ 9.61030105e-01 2.50992425e-01 1.15861729e-01 2.92159576e+02] [-2.49042724e-01 9.67988340e-01 -3.12457348e-02 -6.46018872e+01] [-1.19995245e-01 1.17357124e-03 9.92773773e-01 -2.32310222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:292.19, Y:-64.61, Z:-23.24 [[ 9.60514697e-01 2.52891726e-01 1.16005567e-01 2.92189585e+02] [-2.50948051e-01 9.67494109e-01 -3.13085383e-02 -6.46116044e+01] [-1.20152373e-01 9.60940335e-04 9.92754997e-01 -2.32356599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85264 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:292.22, Y:-64.62, Z:-23.24 [[ 9.59908079e-01 2.55175013e-01 1.16026689e-01 2.92219476e+02] [-2.53244003e-01 9.66894628e-01 -3.13409345e-02 -6.46212352e+01] [-1.20183006e-01 7.01352992e-04 9.92751506e-01 -2.32401621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264000000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:292.25, Y:-64.63, Z:-23.25 [[ 9.59160682e-01 2.57901292e-01 1.16179644e-01 2.92249401e+02] [-2.55985233e-01 9.66171204e-01 -3.13809813e-02 -6.46309356e+01] [-1.20342622e-01 3.59130087e-04 9.92732353e-01 -2.32451572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.28, Y:-64.64, Z:-23.25 [[ 9.57324596e-01 2.64422781e-01 1.16662807e-01 2.92277537e+02] [-2.62535764e-01 9.64406762e-01 -3.15368215e-02 -6.46405312e+01] [-1.20849454e-01 -4.37184168e-04 9.92670750e-01 -2.32499770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:292.31, Y:-64.65, Z:-23.26 [[ 9.56323319e-01 2.67992026e-01 1.16730391e-01 2.92307993e+02] [-2.66129380e-01 9.63420720e-01 -3.15542349e-02 -6.46496525e+01] [-1.20916761e-01 -8.89335966e-04 9.92662252e-01 -2.32551811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.34, Y:-64.66, Z:-23.26 [[ 9.55237819e-01 2.71747365e-01 1.16936219e-01 2.92337953e+02] [-2.69904449e-01 9.62367673e-01 -3.16235838e-02 -6.46590908e+01] [-1.21129262e-01 -1.35356241e-03 9.92635819e-01 -2.32596537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.37, Y:-64.67, Z:-23.26 [[ 9.54193216e-01 2.75130091e-01 1.17553134e-01 2.92365559e+02] [-2.73292641e-01 9.61405344e-01 -3.17946026e-02 -6.46670942e+01] [-1.21763863e-01 -1.78821241e-03 9.92557486e-01 -2.32644459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.39, Y:-64.67, Z:-23.27 [[ 9.52140115e-01 2.81764290e-01 1.18482434e-01 2.92394269e+02] [-2.79948776e-01 9.59479974e-01 -3.20446950e-02 -6.46737128e+01] [-1.22710574e-01 -2.65797285e-03 9.92438940e-01 -2.32687247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:292.42, Y:-64.68, Z:-23.27 [[ 9.51434452e-01 2.84188280e-01 1.18361754e-01 2.92422307e+02] [-2.82395481e-01 9.58763892e-01 -3.20092589e-02 -6.46800485e+01] [-1.22577632e-01 -2.97011268e-03 9.92454484e-01 -2.32730343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09264 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:292.45, Y:-64.69, Z:-23.28 [[ 9.50652068e-01 2.86450592e-01 1.19191879e-01 2.92449876e+02] [-2.84650714e-01 9.58089370e-01 -3.22293540e-02 -6.46863770e+01] [-1.23428590e-01 -3.28915138e-03 9.92348006e-01 -2.32778795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:292.48, Y:-64.68, Z:-23.29 [[ 9.50102415e-01 2.91018435e-01 1.12310602e-01 2.92483184e+02] [-2.85952413e-01 9.56412888e-01 -5.92081558e-02 -6.46776909e+01] [-1.24645972e-01 2.41383241e-02 9.91907618e-01 -2.32927144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.50, Y:-64.71, Z:-23.29 [[ 9.49718819e-01 2.85605589e-01 1.28310611e-01 2.92503182e+02] [-2.87229361e-01 9.57842639e-01 -6.06404585e-03 -6.47124625e+01] [-1.24633299e-01 -3.10954363e-02 9.91715491e-01 -2.32881126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.54, Y:-64.70, Z:-23.29 [[ 9.49176763e-01 2.89728291e-01 1.22967433e-01 2.92535128e+02] [-2.87840289e-01 9.57101234e-01 -3.32445047e-02 -6.47046420e+01] [-1.27324155e-01 -3.84006987e-03 9.91853726e-01 -2.32928711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.56, Y:-64.71, Z:-23.30 [[ 9.49150643e-01 2.89546251e-01 1.23596219e-01 2.92563272e+02] [-2.87637723e-01 9.57156326e-01 -3.34111908e-02 -6.47111836e+01] [-1.27974988e-01 -3.83868181e-03 9.91769967e-01 -2.32974314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:292.59, Y:-64.72, Z:-23.30 [[ 9.49355750e-01 2.88980029e-01 1.23345863e-01 2.92591496e+02] [-2.87074877e-01 9.57327752e-01 -3.33405254e-02 -6.47171697e+01] [-1.27717164e-01 -3.75747907e-03 9.91803512e-01 -2.33009738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.62, Y:-64.72, Z:-23.31 [[ 9.49392486e-01 2.88177782e-01 1.24929870e-01 2.92620670e+02] [-2.86217000e-01 9.57569767e-01 -3.37634414e-02 -6.47226436e+01] [-1.29358940e-01 -3.70229517e-03 9.91590922e-01 -2.33067721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.65, Y:-64.72, Z:-23.31 [[ 9.49918447e-01 2.86063670e-01 1.25787599e-01 2.92649012e+02] [-2.84057741e-01 9.58204433e-01 -3.39921303e-02 -6.47246015e+01] [-1.30254148e-01 -3.44118943e-03 9.91474667e-01 -2.33127575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33264 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.68, Y:-64.73, Z:-23.32 [[ 9.50298227e-01 2.84290066e-01 1.26934781e-01 2.92678314e+02] [-2.82232205e-01 9.58732865e-01 -3.42968680e-02 -6.47297332e+01] [-1.31446805e-01 -3.23283034e-03 9.91317954e-01 -2.33182079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.71, Y:-64.73, Z:-23.32 [[ 9.50890930e-01 2.82017658e-01 1.27563627e-01 2.92706218e+02] [-2.79919343e-01 9.59404721e-01 -3.44636467e-02 -6.47347730e+01] [-1.32104503e-01 -2.93635769e-03 9.91231445e-01 -2.33231606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39264000000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:292.74, Y:-64.74, Z:-23.33 [[ 9.52454964e-01 2.75690027e-01 1.29709484e-01 2.92735733e+02] [-2.73462481e-01 9.61244301e-01 -3.50380631e-02 -6.47384148e+01] [-1.34342147e-01 -2.09850030e-03 9.90932785e-01 -2.33299866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:292.77, Y:-64.74, Z:-23.34 [[ 9.53602793e-01 2.71743272e-01 1.29604427e-01 2.92765320e+02] [-2.69483558e-01 9.62368541e-01 -3.50057708e-02 -6.47442319e+01] [-1.34239806e-01 -1.54466146e-03 9.90947672e-01 -2.33350506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45264000000003 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:292.80, Y:-64.75, Z:-23.34 [[ 9.54699886e-01 2.67748879e-01 1.29840925e-01 2.92797275e+02] [-2.65444193e-01 9.63488229e-01 -3.50686995e-02 -6.47511148e+01] [-1.34489807e-01 -9.85436065e-04 9.90914487e-01 -2.33410476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48264 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:292.83, Y:-64.76, Z:-23.35 [[ 9.55936986e-01 2.63510134e-01 1.29409771e-01 2.92828751e+02] [-2.61178494e-01 9.64656560e-01 -3.49787889e-02 -6.47581176e+01] [-1.34053250e-01 -3.61531116e-04 9.90974064e-01 -2.33452088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51264000000003 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:292.87, Y:-64.72, Z:-23.39 [[ 9.56952391e-01 2.64089935e-01 1.20410249e-01 2.92868204e+02] [-2.51360464e-01 9.61493122e-01 -1.11125579e-01 -6.47199795e+01] [-1.45120773e-01 7.60755127e-02 9.86484910e-01 -2.33862179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54264 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:292.90, Y:-64.74, Z:-23.41 [[ 9.58002169e-01 2.55905716e-01 1.29399031e-01 2.92899954e+02] [-2.45038156e-01 9.64930250e-01 -9.41589854e-02 -6.47354129e+01] [-1.48956862e-01 5.84968123e-02 9.87111937e-01 -2.34079954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57264000000004 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:292.91, Y:-64.85, Z:-23.36 [[ 9.60103409e-01 2.24118148e-01 1.67249811e-01 2.92905876e+02] [-2.42215324e-01 9.65379828e-01 9.68169636e-02 -6.48528816e+01] [-1.39761155e-01 -1.33464764e-01 9.81149314e-01 -2.33645355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60264 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:292.96, Y:-64.79, Z:-23.37 [[ 9.61067560e-01 2.41447790e-01 1.34358144e-01 2.92956499e+02] [-2.38704279e-01 9.70409410e-01 -3.64121417e-02 -6.47882024e+01] [-1.39174038e-01 2.92266423e-03 9.90263624e-01 -2.33683178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63264000000004 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:293.01, Y:-64.71, Z:-23.42 [[ 9.61557551e-01 2.52248690e-01 1.08524992e-01 2.93005313e+02] [-2.31350043e-01 9.57055821e-01 -1.74703502e-01 -6.47110959e+01] [-1.47933205e-01 1.42880210e-01 9.78621997e-01 -2.34175704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66264 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:293.00, Y:-64.83, Z:-23.43 [[ 9.62424328e-01 2.19281599e-01 1.60171762e-01 2.92996043e+02] [-2.26624477e-01 9.73553818e-01 2.88844392e-02 -6.48305581e+01] [-1.49602005e-01 -6.40979288e-02 9.86666456e-01 -2.34292230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69264 meters Centerline goodness : 0.987780 Centerline is valid? [True, True] Translation: X:293.03, Y:-64.80, Z:-23.43 [[ 9.63529399e-01 2.25321847e-01 1.44364685e-01 2.93033347e+02] [-2.22384253e-01 9.74279908e-01 -3.63855086e-02 -6.48048139e+01] [-1.48850062e-01 2.95407457e-03 9.88855365e-01 -2.34340950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72264 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:293.12, Y:-64.76, Z:-23.42 [[ 9.64786677e-01 2.41256121e-01 1.04795761e-01 2.93118965e+02] [-2.23439573e-01 9.61920666e-01 -1.57427412e-01 -6.47586881e+01] [-1.38785535e-01 1.28468350e-01 9.81954408e-01 -2.34192112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75264 meters Centerline goodness : 0.986194 Centerline is valid? [True, True] Translation: X:293.09, Y:-64.90, Z:-23.43 [[ 9.63787207e-01 2.04687791e-01 1.70930184e-01 2.93088911e+02] [-2.22248329e-01 9.70766130e-01 9.06576071e-02 -6.49021618e+01] [-1.47376727e-01 -1.25363590e-01 9.81103496e-01 -2.34289880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78264 meters Centerline goodness : 0.982586 Centerline is valid? [True, True] Translation: X:293.13, Y:-64.84, Z:-23.43 [[ 9.63657808e-01 2.26854390e-01 1.41069893e-01 2.93133369e+02] [-2.24060465e-01 9.73924959e-01 -3.55960873e-02 -6.48406083e+01] [-1.45466619e-01 2.69426157e-03 9.89359492e-01 -2.34331838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81264 meters Centerline goodness : 0.096160 Centerline is valid? [True, False] Translation: X:293.13, Y:-64.84, Z:-23.43 [[ 9.63591543e-01 2.26961484e-01 1.41350000e-01 2.93132713e+02] [-2.24195211e-01 9.73900699e-01 -3.54109560e-02 -6.48415719e+01] [-1.45697786e-01 2.43170470e-03 9.89326155e-01 -2.34336508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84264 meters Centerline goodness : 0.086005 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.43 [[ 9.62510502e-01 2.30520766e-01 1.42946524e-01 2.93130435e+02] [-2.28561697e-01 9.73060748e-01 -3.02048278e-02 -6.48473920e+01] [-1.46058492e-01 -3.59963622e-03 9.89269407e-01 -2.34341488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87264 meters Centerline goodness : 0.085845 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.61342042e-01 2.34300774e-01 1.44653469e-01 2.93128367e+02] [-2.33128332e-01 9.72118203e-01 -2.52464088e-02 -6.48515273e+01] [-1.46535524e-01 -9.45238782e-03 9.89160246e-01 -2.34350395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90264 meters Centerline goodness : 0.084709 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.62143104e-01 2.31633586e-01 1.43619389e-01 2.93129846e+02] [-2.29731645e-01 9.72794009e-01 -2.99196807e-02 -6.48465498e+01] [-1.46642484e-01 -4.20690412e-03 9.89180612e-01 -2.34358688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93264 meters Centerline goodness : 0.105618 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.62097847e-01 2.31741090e-01 1.43749085e-01 2.93129960e+02] [-2.29810427e-01 9.72769063e-01 -3.01250341e-02 -6.48453449e+01] [-1.46815871e-01 -4.05180819e-03 9.89155540e-01 -2.34365847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96264 meters Centerline goodness : 0.108769 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.61000798e-01 2.35401662e-01 1.45132781e-01 2.93128744e+02] [-2.34261577e-01 9.71848399e-01 -2.51436350e-02 -6.48494967e+01] [-1.46965915e-01 -9.83598099e-03 9.89092652e-01 -2.34373484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99264 meters Centerline goodness : 0.107235 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.61717140e-01 2.33181536e-01 1.43967058e-01 2.93131354e+02] [-2.31412574e-01 9.72418880e-01 -2.91503400e-02 -6.48458428e+01] [-1.46793606e-01 -5.28140590e-03 9.89153044e-01 -2.34392619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02264 meters Centerline goodness : 0.110683 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.85, Z:-23.44 [[ 9.61549735e-01 2.33666868e-01 1.44297960e-01 2.93131433e+02] [-2.31906813e-01 9.72301469e-01 -2.91390411e-02 -6.48452593e+01] [-1.47109947e-01 -5.44504269e-03 9.89105159e-01 -2.34409643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05264 meters Centerline goodness : 0.110687 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.84, Z:-23.44 [[ 9.61475415e-01 2.33810084e-01 1.44560961e-01 2.93131280e+02] [-2.32023439e-01 9.72267657e-01 -2.93381444e-02 -6.48444858e+01] [-1.47411501e-01 -5.33362678e-03 9.89060869e-01 -2.34422586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08264 meters Centerline goodness : 0.111116 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.84, Z:-23.44 [[ 9.62285431e-01 2.31040015e-01 1.43621939e-01 2.93132703e+02] [-2.28504842e-01 9.72944249e-01 -3.41324812e-02 -6.48395618e+01] [-1.47622109e-01 2.68808946e-05 9.89043837e-01 -2.34440564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11264 meters Centerline goodness : 0.112531 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.84, Z:-23.45 [[ 9.62244353e-01 2.31141161e-01 1.43734367e-01 2.93132993e+02] [-2.28592860e-01 9.72920221e-01 -3.42278731e-02 -6.48390242e+01] [-1.47753542e-01 7.89277947e-05 9.89024208e-01 -2.34451655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264000000003 meters Centerline goodness : 0.114375 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.84, Z:-23.45 [[ 9.62205146e-01 2.31188336e-01 1.43920849e-01 2.93132874e+02] [-2.28622211e-01 9.72909005e-01 -3.43504472e-02 -6.48385091e+01] [-1.47963312e-01 1.48674387e-04 9.88992839e-01 -2.34459600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17264 meters Centerline goodness : 0.112144 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.84, Z:-23.45 [[ 9.62025263e-01 2.31735207e-01 1.44243500e-01 2.93133301e+02] [-2.29139273e-01 9.72778877e-01 -3.45897432e-02 -6.48365483e+01] [-1.48332691e-01 2.24356078e-04 9.88937492e-01 -2.34472318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264000000003 meters Centerline goodness : 0.115751 Centerline is valid? [False, False] Translation: X:293.12, Y:-64.83, Z:-23.45 [[ 9.60982429e-01 2.34733541e-01 1.46331596e-01 2.93116001e+02] [-2.30930700e-01 9.72032781e-01 -4.26999441e-02 -6.48267865e+01] [-1.52262217e-01 7.24143817e-03 9.88313603e-01 -2.34527370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23264 meters Centerline goodness : 0.113979 Centerline is valid? [False, False] Translation: X:293.14, Y:-64.82, Z:-23.46 [[ 9.60418593e-01 2.37409453e-01 1.45715059e-01 2.93135229e+02] [-2.31877727e-01 9.71239879e-01 -5.40908225e-02 -6.48241246e+01] [-1.54365949e-01 1.81617549e-02 9.87846802e-01 -2.34553152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264000000003 meters Centerline goodness : 0.115899 Centerline is valid? [False, False] Translation: X:293.13, Y:-64.83, Z:-23.46 [[ 9.58396789e-01 2.43760357e-01 1.48514252e-01 2.93132988e+02] [-2.39659910e-01 9.69804827e-01 -4.51854443e-02 -6.48320116e+01] [-1.55044258e-01 7.71267241e-03 9.87877418e-01 -2.34570903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29264 meters Centerline goodness : 0.117842 Centerline is valid? [False, False] Translation: X:293.15, Y:-64.83, Z:-23.46 [[ 9.58220109e-01 2.46029256e-01 1.45889778e-01 2.93151560e+02] [-2.40224559e-01 9.69075600e-01 -5.64326383e-02 -6.48298606e+01] [-1.55262304e-01 1.90285813e-02 9.87689997e-01 -2.34562143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264000000004 meters Centerline goodness : 0.114858 Centerline is valid? [False, False] Translation: X:293.15, Y:-64.82, Z:-23.46 [[ 9.59211762e-01 2.42757707e-01 1.44849896e-01 2.93152660e+02] [-2.36130424e-01 9.69768276e-01 -6.15785220e-02 -6.48243161e+01] [-1.55419494e-01 2.48633752e-02 9.87535616e-01 -2.34573299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35264 meters Centerline goodness : 0.111921 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.83, Z:-23.46 [[ 9.59092384e-01 2.40749320e-01 1.48934765e-01 2.93171384e+02] [-2.35642090e-01 9.70484756e-01 -5.13044202e-02 -6.48334001e+01] [-1.56890423e-01 1.41103794e-02 9.87515211e-01 -2.34605854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264000000004 meters Centerline goodness : 0.109552 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.83, Z:-23.46 [[ 9.60054561e-01 2.37383755e-01 1.48135725e-01 2.93172275e+02] [-2.31434393e-01 9.71212122e-01 -5.64370035e-02 -6.48285698e+01] [-1.57268440e-01 1.98989010e-02 9.87355393e-01 -2.34626756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41264 meters Centerline goodness : 0.114521 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.46 [[ 9.61037076e-01 2.34057200e-01 1.47054294e-01 2.93173643e+02] [-2.27290054e-01 9.71883896e-01 -6.14892228e-02 -6.48235386e+01] [-1.57311696e-01 2.56694445e-02 9.87215331e-01 -2.34639210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters Centerline goodness : 0.118725 Centerline is valid? [False, False] Translation: X:293.18, Y:-64.82, Z:-23.47 [[ 9.62018194e-01 2.30628715e-01 1.46052695e-01 2.93175084e+02] [-2.23030026e-01 9.72530368e-01 -6.66505078e-02 -6.48178430e+01] [-1.57412202e-01 3.15448649e-02 9.87029037e-01 -2.34653961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47264 meters Centerline goodness : 0.121888 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61987324e-01 2.30616306e-01 1.46275450e-01 2.93174855e+02] [-2.23011168e-01 9.72535070e-01 -6.66450063e-02 -6.48180285e+01] [-1.57627431e-01 3.14905921e-02 9.86996421e-01 -2.34662567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters Centerline goodness : 0.134428 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61871753e-01 2.30753645e-01 1.46817869e-01 2.93173873e+02] [-2.23180023e-01 9.72516589e-01 -6.63487875e-02 -6.48201046e+01] [-1.58093037e-01 3.10522093e-02 9.86935840e-01 -2.34676821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53264 meters Centerline goodness : 0.134193 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61809876e-01 2.30792583e-01 1.47161630e-01 2.93173198e+02] [-2.23225368e-01 9.72513357e-01 -6.62435354e-02 -6.48208616e+01] [-1.58405168e-01 3.08634775e-02 9.86891711e-01 -2.34684742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters Centerline goodness : 0.135879 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61760824e-01 2.30811794e-01 1.47451798e-01 2.93172744e+02] [-2.23235666e-01 9.72511009e-01 -6.62432962e-02 -6.48210429e+01] [-1.58688231e-01 3.07937068e-02 9.86848414e-01 -2.34693369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59264 meters Centerline goodness : 0.143849 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61668285e-01 2.30882656e-01 1.47943601e-01 2.93172448e+02] [-2.23288734e-01 9.72497517e-01 -6.62625175e-02 -6.48214246e+01] [-1.59173651e-01 3.06884222e-02 9.86773515e-01 -2.34711535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters Centerline goodness : 0.143849 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61668285e-01 2.30882656e-01 1.47943601e-01 2.93172448e+02] [-2.23288734e-01 9.72497517e-01 -6.62625175e-02 -6.48214246e+01] [-1.59173651e-01 3.06884222e-02 9.86773515e-01 -2.34711535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65264 meters Centerline goodness : 0.145036 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61612228e-01 2.30910457e-01 1.48264233e-01 2.93171933e+02] [-2.23324614e-01 9.72496791e-01 -6.61521550e-02 -6.48221593e+01] [-1.59461716e-01 3.05016684e-02 9.86732795e-01 -2.34721962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters Centerline goodness : 0.140236 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61549740e-01 2.30958049e-01 1.48595009e-01 2.93171547e+02] [-2.23387756e-01 9.72492921e-01 -6.59956825e-02 -6.48230423e+01] [-1.59749828e-01 3.02638258e-02 9.86693515e-01 -2.34735125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71264 meters Centerline goodness : 0.133714 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.47 [[ 9.61496556e-01 2.30976667e-01 1.48909881e-01 2.93171155e+02] [-2.23407627e-01 9.72492870e-01 -6.59291265e-02 -6.48233990e+01] [-1.60041887e-01 3.01230250e-02 9.86650494e-01 -2.34746137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters Centerline goodness : 0.140792 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.48 [[ 9.61434877e-01 2.30996155e-01 1.49277441e-01 2.93170746e+02] [-2.23421168e-01 9.72491912e-01 -6.58973640e-02 -6.48237542e+01] [-1.60393141e-01 3.00042839e-02 9.86597072e-01 -2.34760360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77264 meters Centerline goodness : 0.144620 Centerline is valid? [False, False] Translation: X:293.17, Y:-64.82, Z:-23.48 [[ 9.61363642e-01 2.31083249e-01 1.49601068e-01 2.93170303e+02] [-2.23531864e-01 9.72479991e-01 -6.56975855e-02 -6.48249799e+01] [-1.60665657e-01 2.97186645e-02 9.86561376e-01 -2.34772800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters Centerline goodness : 0.191477 Centerline is valid? [False, False] Translation: X:293.22, Y:-64.84, Z:-23.49 [[ 9.61650035e-01 2.30123402e-01 1.49239504e-01 2.93215708e+02] [-2.22305294e-01 9.72648977e-01 -6.73373860e-02 -6.48354835e+01] [-1.60653559e-01 3.15782679e-02 9.86505574e-01 -2.34870089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83264 meters Centerline goodness : 0.194881 Centerline is valid? [False, False] Translation: X:293.22, Y:-64.84, Z:-23.49 [[ 9.61604554e-01 2.30188438e-01 1.49432139e-01 2.93215996e+02] [-2.22353682e-01 9.72633175e-01 -6.74058360e-02 -6.48351714e+01] [-1.60858700e-01 3.15909724e-02 9.86471738e-01 -2.34884743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters Centerline goodness : 0.246123 Centerline is valid? [False, False] Translation: X:293.22, Y:-64.83, Z:-23.49 [[ 9.61560764e-01 2.30280611e-01 1.49571847e-01 2.93216435e+02] [-2.22410108e-01 9.72606547e-01 -6.76036091e-02 -6.48340179e+01] [-1.61042358e-01 3.17386874e-02 9.86437030e-01 -2.34896126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89264000000003 meters SLAMing on 307.92264 meters SLAMing on 307.95264000000003 meters Centerline goodness : 0.272157 Centerline is valid? [False, False] Translation: X:293.29, Y:-64.85, Z:-23.51 [[ 9.59594450e-01 2.37531784e-01 1.50854710e-01 2.93285836e+02] [-2.29375918e-01 9.70846505e-01 -6.95970637e-02 -6.48461261e+01] [-1.62988283e-01 3.21825185e-02 9.86102989e-01 -2.35073506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98264 meters Centerline goodness : 0.071303 Centerline is valid? [False, False] Translation: X:293.33, Y:-64.85, Z:-23.51 [[ 9.60397198e-01 2.37256271e-01 1.46105041e-01 2.93334136e+02] [-2.28823896e-01 9.70780041e-01 -7.22892519e-02 -6.48505593e+01] [-1.58986936e-01 3.59940703e-02 9.86624336e-01 -2.35089248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01264000000003 meters SLAMing on 308.04264 meters Centerline goodness : 0.807169 Centerline is valid? [False, False] Translation: X:293.40, Y:-64.86, Z:-23.52 [[ 9.58828876e-01 2.44348368e-01 1.44710267e-01 2.93401717e+02] [-2.35531890e-01 9.68931479e-01 -7.54752816e-02 -6.48600969e+01] [-1.58656594e-01 3.82839969e-02 9.86591314e-01 -2.35215185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07264000000004 meters Centerline goodness : 0.801943 Centerline is valid? [False, False] Translation: X:293.40, Y:-64.86, Z:-23.52 [[ 9.58806212e-01 2.44488854e-01 1.44623121e-01 2.93403279e+02] [-2.35621153e-01 9.68882522e-01 -7.58243386e-02 -6.48579961e+01] [-1.58661020e-01 3.86245803e-02 9.86577327e-01 -2.35229951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10264 meters Centerline goodness : 0.808143 Centerline is valid? [False, False] Translation: X:293.40, Y:-64.86, Z:-23.52 [[ 9.58782525e-01 2.44633262e-01 1.44535940e-01 2.93404812e+02] [-2.35724729e-01 9.68834993e-01 -7.61091941e-02 -6.48563497e+01] [-1.58650316e-01 3.89014701e-02 9.86568169e-01 -2.35245829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13264000000004 meters Centerline goodness : 0.785178 Centerline is valid? [False, False] Translation: X:293.46, Y:-64.86, Z:-23.53 [[ 9.59465610e-01 2.44940492e-01 1.39391175e-01 2.93456552e+02] [-2.36290925e-01 9.68721200e-01 -7.58012908e-02 -6.48641682e+01] [-1.53597992e-01 3.97918621e-02 9.87331892e-01 -2.35301868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16264 meters Centerline goodness : 0.780002 Centerline is valid? [False, False] Translation: X:293.46, Y:-64.86, Z:-23.53 [[ 9.59492666e-01 2.44829397e-01 1.39400109e-01 2.93457814e+02] [-2.36124927e-01 9.68734730e-01 -7.61448735e-02 -6.48618707e+01] [-1.53684231e-01 4.01446070e-02 9.87304192e-01 -2.35317581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19264 meters Centerline goodness : 0.738206 Centerline is valid? [False, False] Translation: X:293.46, Y:-64.86, Z:-23.53 [[ 9.59522924e-01 2.44684858e-01 1.39445611e-01 2.93458830e+02] [-2.35915483e-01 9.68754567e-01 -7.65406626e-02 -6.48593197e+01] [-1.53816914e-01 4.05451416e-02 9.87267162e-01 -2.35330372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22264 meters Centerline goodness : 0.690343 Centerline is valid? [False, False] Translation: X:293.46, Y:-64.86, Z:-23.53 [[ 9.59537188e-01 2.44586547e-01 1.39519912e-01 2.93459892e+02] [-2.35775125e-01 9.68769439e-01 -7.67845316e-02 -6.48577055e+01] [-1.53943090e-01 4.07822888e-02 9.87237727e-01 -2.35346184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25264 meters Centerline goodness : 0.761619 Centerline is valid? [False, False] Translation: X:293.51, Y:-64.87, Z:-23.54 [[ 9.60730366e-01 2.42817120e-01 1.34301938e-01 2.93512393e+02] [-2.33978255e-01 9.69081496e-01 -7.83277148e-02 -6.48651827e+01] [-1.49168833e-01 4.38280810e-02 9.87839946e-01 -2.35400117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28264 meters Centerline goodness : 0.676800 Centerline is valid? [False, False] Translation: X:293.51, Y:-64.87, Z:-23.54 [[ 9.60698763e-01 2.42876229e-01 1.34421066e-01 2.93512954e+02] [-2.34064548e-01 9.69077751e-01 -7.81159407e-02 -6.48666426e+01] [-1.49236970e-01 4.35826816e-02 9.87840512e-01 -2.35417779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31264 meters Centerline goodness : 0.680611 Centerline is valid? [False, False] Translation: X:293.51, Y:-64.87, Z:-23.54 [[ 9.60672532e-01 2.42928632e-01 1.34513815e-01 2.93513527e+02] [-2.34150597e-01 9.69076834e-01 -7.78690415e-02 -6.48685121e+01] [-1.49270841e-01 4.33101591e-02 9.87847380e-01 -2.35434823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34264 meters Centerline goodness : 0.741090 Centerline is valid? [False, False] Translation: X:293.56, Y:-64.87, Z:-23.54 [[ 9.62138237e-01 2.40719583e-01 1.27844023e-01 2.93562753e+02] [-2.31803074e-01 9.69402638e-01 -8.07828005e-02 -6.48749242e+01] [-1.43378335e-01 4.80895838e-02 9.88498885e-01 -2.35413962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37264 meters Centerline goodness : 0.747682 Centerline is valid? [False, False] Translation: X:293.61, Y:-64.88, Z:-23.54 [[ 9.63316480e-01 2.38848385e-01 1.22363424e-01 2.93613611e+02] [-2.30127118e-01 9.69763411e-01 -8.12430651e-02 -6.48829326e+01] [-1.38068347e-01 5.01036413e-02 9.89154567e-01 -2.35429002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40264 meters Centerline goodness : 0.733014 Centerline is valid? [False, False] Translation: X:293.61, Y:-64.88, Z:-23.54 [[ 9.63331017e-01 2.38766101e-01 1.22409561e-01 2.93614637e+02] [-2.30021749e-01 9.69776292e-01 -8.13875832e-02 -6.48819244e+01] [-1.38142486e-01 5.02463219e-02 9.89136978e-01 -2.35441259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43264 meters Centerline goodness : 0.733491 Centerline is valid? [False, False] Translation: X:293.62, Y:-64.88, Z:-23.55 [[ 9.63348816e-01 2.38668147e-01 1.22460503e-01 2.93615745e+02] [-2.29899826e-01 9.69792753e-01 -8.15357972e-02 -6.48808241e+01] [-1.38221306e-01 5.03937654e-02 9.89118466e-01 -2.35455118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46264 meters Centerline goodness : 0.743962 Centerline is valid? [False, False] Translation: X:293.62, Y:-64.88, Z:-23.55 [[ 9.63366986e-01 2.38595399e-01 1.22459323e-01 2.93616923e+02] [-2.29808648e-01 9.69803524e-01 -8.16646206e-02 -6.48798886e+01] [-1.38246285e-01 5.05307880e-02 9.89107984e-01 -2.35468280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49264 meters Centerline goodness : 0.740555 Centerline is valid? [False, False] Translation: X:293.62, Y:-64.88, Z:-23.55 [[ 9.63367632e-01 2.38576507e-01 1.22491048e-01 2.93617948e+02] [-2.29765006e-01 9.69800004e-01 -8.18290588e-02 -6.48790128e+01] [-1.38314310e-01 5.06873102e-02 9.89090465e-01 -2.35481324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52264 meters Centerline goodness : 0.737337 Centerline is valid? [False, False] Translation: X:293.67, Y:-64.89, Z:-23.55 [[ 9.64197398e-01 2.38222954e-01 1.16504088e-01 2.93671217e+02] [-2.29777832e-01 9.69831917e-01 -8.14137640e-02 -6.48881685e+01] [-1.32384011e-01 5.17288825e-02 9.89847764e-01 -2.35494341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55264 meters Centerline goodness : 0.734339 Centerline is valid? [False, False] Translation: X:293.67, Y:-64.89, Z:-23.55 [[ 9.64176651e-01 2.38292114e-01 1.16534351e-01 2.93672417e+02] [-2.29844961e-01 9.69815480e-01 -8.14200736e-02 -6.48884247e+01] [-1.32418579e-01 5.17185004e-02 9.89843683e-01 -2.35512952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58264 meters Centerline goodness : 0.689792 Centerline is valid? [False, False] Translation: X:293.71, Y:-64.90, Z:-23.55 [[ 9.65277120e-01 2.37149763e-01 1.09544834e-01 2.93708052e+02] [-2.29245741e-01 9.70072959e-01 -8.00302769e-02 -6.48952571e+01] [-1.25245642e-01 5.21387086e-02 9.90754805e-01 -2.35474838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7753.52 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%| | 0/10281 [00:00